Research and Development of Tactile Sensors for Artificial Fingers

人造手指触觉传感器的研发

• 批准号: 04650309
• 负责人: OKADA Tokuji
• 金额: $ 1.15万
• 依托单位: Niigata University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1992
• 资助国家: 日本
• 起止时间: 1992 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-04650309/
• 关键词: Tactile Sensor; Dextrous Finger; Optical Projection; Inverse of Optical Projection; Suspension Shell; Displacement Measurement; Pinhole; PSD; Tactile Sensor; Optical Projection; Inverse of Projection; Dextrous Fingers; Suspension Shell; Photo

An optical measurement method is discussed to obtain 5 displacement parameters of a suspension shell which is a principal component of an artificial tactile sensor utilizing suspension-shell mechanisms. The procedure of extracting magnitude, direction and position of an external force operating on the shell is clarified by analizing dynamics of the suspension mechanism composed of springs, and is verified by the result of a simulation of contact. Also, the tactile sensor for fingers with outer diameter of 20mm is designed and fabricated by utilizing PSDs(Position Sensing Device)having the photosensitive area of 4.1mmx4.1mm. The sensor is attached on the gripper of the small robot(Movemaster ER.RV-M1)to obtain tactual information from areas of both the end and the periphery of the finger in the experiment. Then it is confirmed that the sensor makes it possible to get the information such that the magnitude, direction and position of the external force. Moreover, it is verified that the … More vibration of the shell in contacting is suppressed since the viscosity appearing in the connection at the ends of springs brings about damping effect when the motional speed of the finger is not so high as that of hammering.Each of the five displacement parameters has a tendency to reach the limit of its dynamic range when the sensor is designed so that the minimun force sensitivity becomes small. In this case, the value of each displacement is checked to know whether the motion is critical. In such the case when some of the parameters reach critical, a slip may happen between the shell and an object and a great force is supported by the finger body. Thus, there is no problem about deformations of the suspension shell and decoupling of the springs in the mechanism as far as the shell and the finger body are similar in shape. This research will be extended by investigating the scanning method of light emitting devices so that the time required to obtain tactual information might be shortened in future. Less

介绍了一种利用悬壳机构的人工触觉传感器的主要部件悬壳的5个位移参数的光学测量方法。通过对弹簧悬挂机构的动力学分析，阐明了作用在壳体上的外力大小、方向和位置的提取过程，并通过接触仿真结果进行了验证。此外，通过利用具有4.1mmx4.1mm的光敏面积的PSD（位置感测器件）来设计和制造用于外径为20 mm的手指的触觉传感器。该传感器连接在小型机器人（Movemaster ER.RV-M1）的夹具上，以在实验中从手指的末端和周边区域获得触觉信息。然后确认传感器可以获得外力的大小，方向和位置的信息。此外，经证实， ...更多信息 当手指的运动速度小于锤击速度时，由于弹簧端部连接处出现的粘性产生阻尼效应，壳体接触时的振动受到抑制，当传感器设计成使最小力灵敏度变小时，五个位移参数中的每一个都有达到其动态范围极限的趋势。在这种情况下，检查每个位移的值以了解运动是否是临界的。在这种情况下，当某些参数达到临界值时，壳体与物体之间可能发生滑动，并且手指体承受很大的力。因此，只要壳体和指状体的形状相似，就不存在关于悬挂壳体的变形和机构中的弹簧的解耦的问题。本研究将借由探讨发光元件的扫描方式，以缩短未来获取触觉信息所需的时间。少

项目成果

T.Okada, K.Inamura, T.Suzuki: "Detection of Dynamic Information by a Tactile Sensor Utilizing Displacement Parameters of a Suspension Shell" Proc.of the IEEE Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. (to be Published). (1994)

T.Okada、K.Inamura、T.Suzuki：“利用悬架壳体位移参数的触觉传感器检测动态信息”IEEE Int.Conf.on 智能系统多传感器融合与集成会议记录。

T.Okada, T.Suzuki, K.Inamura: "Detection of Dynamic Information by a Tactile Sensor Utilizing a Suspension shell" J.of Robotics Society of Japan. (to be published). (1994)

T.Okada、T.Suzuki、K.Inamura：“利用悬挂壳的触觉传感器检测动态信息”日本机器人学会杂志。

岡田 徳次: "光の投影逆変換を用いる人工指触覚センサの構成法" 日本ロボット学会誌.

冈田德治：《利用光的投影逆变换的人工手指触觉传感器的构造方法》日本机器人学会杂志。

岡田徳次: "光の投影逆変換を用いる指用触覚センサの一構成法" 日本機械学会ロボメック93講演論文集. B. 268-273 (1993)

Tokuji Okada：“使用光的逆投影变换的手指触觉传感器的构造方法”日本机械工程师学会会议记录 Robomec 93. B. 268-273 (1993)

岡田徳次: "浮動莢機構を用いた触覚センサの力学情報の抽出" 日本ロボット学会学術講演会予稿集. 407-410 (1993)

Tokuji Okada：“使用浮动吊舱机构从触觉传感器中提取机械信息”日本机器人学会学术会议论文集 407-410 (1993)。