A Method for Measuring the Center Position of a Two Dimensional Distributed Load Using Pressure-Conductive Rubber
A Method for Measuring the Center Position of a Two Dimensional Distributed Load Using Pressure-Conductive Rubber
复制标题
导压橡胶测量二维分布载荷中心位置的方法
DOI：
10.9746/sicetr1965.18.730
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发表时间：
1982
期刊：
影响因子：
--
通讯作者：
M. Shimojo
中科院分区：
文献类型：
--
作者：
M. Ishikawa;M. Shimojo
提出了一种测量二维分布载荷中心位置的方法，并给出了验证的基本实验结果。该方法所使用的传感器由单位面积位置随分布载荷变化的导压橡胶、一对与橡胶表面接触的导电材料、位于导电材料两边的两对金属电极和一些用于电极电压操作的电路构成。文中指出，通过指定两个正交曲线坐标和分布的总载荷，该传感器可以同时检测到传感器表面二维分布载荷的中心位置这两个可用值。本文还指出，根据导压橡胶的特性，这些值具有不同的含义。最后，通过基本实验对该方法进行了验证。这种方法不能测量分布的每个点的值，但这种方法具有以下优点：(1)由于分布不是数字化的，传感器可以处理小范围的分布；(2)实现了低成本的传感器；(3)传感器可以取任何三维表面。该传感器可应用于足底重心的测量、计算机输入的无码笔板和机器人的触觉传感器。关键词：机器人、触觉传感器、位置传感器、压力传感器、导压橡胶
A method for measuring the center position of the two dimensional distributed load is proposed and the basic experimental results for its verification are shown. The sensor used in this method is constructed of pressure-conductive rubber whose registance per unit area varies with the distributed load, a pair of conductive materials which contact with each surface of the rubber, two pair of metal electrodes which are positioned at each edge of the conductive materials and some electric circuits for the voltage operation of the electrodes. In this paper, it is shown that this sensor can concurrently detect two available values that are the center position of the two dimensional distributed load on the surface of the sensor by specifying the orthogonal cuvilinear coordinates and the total load of the distribution. This paper also shows that according to the characteristics of pressure-conductive rubber, these values have various meanings. Finally, this method is verified by the basic experiment. By this method, the value of each point of the distribution can not be measured, but this method has advantages that (1) as the distribution is not digitized, the sensor, can deal with the small range of the distribution, (2) the low cost sensor is realized and (3) the sensor can take any three dimensional surface. This sensor can be applicable to the measurement of the center of gravity on the sole of a foot, the codeless pen tablet for the computer input and the tactile sensor of robots. Keyword: robot, tactile sensor, position sensor, pressure sensor, pressore-conductive rubber