Development of a Distributed Stretchable 3-axis Sensing System

分布式可拉伸三轴传感系统的开发

• 批准号: 21K14131
• 负责人: トモ ティト・プラドノ
• 金额: $ 2.91万
• 依托单位: Waseda University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Early-Career Scientists
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-04-01 至 2024-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21K14131/
• 关键词: stretchable; 3-axis; tactil; skin; sensor; soft; tactile sensor; 3-axis tactile sensor; Stretchable electronics; Robotics

In FY2022, we improved the performance of a stretchable 3-axis skin sensor by replacing the silver pastes and meander patterns used in the previous version with coiled copper wires.Our findings showed that this modification resulted in a significant increase in the maximum stretching ratio of the sensor from 150% to 250%. Furthermore, the resistance of the wires did not change significantly even after several hundred stretching cycles, allowing for stable I2C digital communication. However, we also observed that the coiled copper wires were prone to breakage after around 200 stretching cycles. Based on these findings, we identified the need to focus on improving the robustness of the sensor, which remains a significant challenge.These results were presented at the SI2022 Conference.

在2022财年，我们改进了可拉伸3轴皮肤传感器的性能，将之前版本中使用的银浆和曲折图案替换为盘绕铜线。我们的研究结果表明，这一改进使传感器的最大拉伸率从150%显著增加到250%。此外，即使经过数百次拉伸循环，导线的电阻也没有显著变化，从而实现稳定的I2C数字通信。然而，我们还观察到，盘绕的铜线在大约200次拉伸循环后容易断裂。基于这些发现，我们确定需要专注于提高传感器的鲁棒性，这仍然是一个重大挑战。这些结果在SI 2022会议上发表。

项目成果

SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction

• DOI: 10.1109/icra48506.2021.9561397
• 发表时间: 2021-05
• 期刊: 2021 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Gang Yan;A. Schmitz;Satoshi Funabashi;S. Somlor;Tito Pradhono Tomo;S. Sugano

Detection of Slip from Vision and Touch

通过视觉和触觉检测滑倒

• 发表时间: 2022
• 作者: Gang Yan;Alexander Schmitz; Tito Pradhono Tomo;Sophon Somlor;Satoshi Funabashi and Shigeki Sugano
• 通讯作者: Satoshi Funabashi and Shigeki Sugano

伸縮性を有する3軸触覚センサuSkinの開発

开发可拉伸3轴触觉传感器uSkin

• 发表时间: 2022
• 作者: Gang Yan;Alexander Schmitz;Satoshi Funabashi;Sophon Somlor;Tito Pradhono Tomo;Shigeki Sugano;高瀬祥，T.P.TOMO，Somlor SOPHON，Alexander SCHMITZ，菅野重樹
• 通讯作者: 高瀬祥，T.P.TOMO，Somlor SOPHON，Alexander SCHMITZ，菅野重樹

Participatory Design and Early Deployment of DarumaTO-3 Social Robot

DarumaTO-3 社交机器人的参与式设计和早期部署

• 发表时间: 2022
• 作者: Zhihao Shen;Nanaka Urano;Chih-Pu Chen;Shi Feng;Scean Mitchell;Masao Katagiri;Yegang Du;Franco Pariasca Trevejo;Tito P Tomo;Alexander Schmitz;Ryan Browne;Toshimi Ogawa;Yasuyuki Taki;Gabriele Trovato
• 通讯作者: Gabriele Trovato

A Robotic Grasping State Perception Framework with Multi-Phase Tactile Information and Ensemble Learning

具有多阶段触觉信息和集成学习的机器人抓取状态感知框架

• DOI: 10.1109/lra.2022.3151260
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Gang Yan;Alexander Schmitz;Satoshi Funabashi;Sophon Somlor;Tito Pradhono Tomo;Shigeki Sugano
• 通讯作者: Shigeki Sugano