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Realization of Static Friction Sensing Mechanism by A Use of Artificial Skin

利用人造皮肤实现静摩擦传感机构

基本信息

批准号：
12450168
负责人：
YAMADA Yoji
金额：
$ 8.19万
依托单位：
Toyota Technological Institute
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12450168/
关键词：
tactile sensing static friction sensation mechano receptor PVDF film stress finger ridge strain incipient slip

项目摘要

The objective of the study was to realize static friction sensation mechanism by developing artificial skin with mechanical structure and a sensing function equivalent to those of human skin.To begin with, structural features of a human finger were imitated: Ridges were molded on a silicone rubber surface, and the shape was formed to have a macroscopic curvature. A pair of PVDF or strain gauge film sheets confronting each other were embedded in a ridge as artificial Meissner corpuscles. Artificial skin with the above futures was used to conduct the following studies.First, the amplitude characteristic of the PVDF circuit system was examined to have a combined first-order (stress-rate) and a third-order (stress-jerk) frequency characteristics with a breakpoint in between the two. Second, the differential PVDF circuit output originating in either one kind of two film sheets generated a low frequency signal wave form pattern indicating the sign of an incipient slip, which was followed by higher frequency slip sequence signals. The results cohered with a simulation result of dynamic behavior analysis for an incipient slip using FEM.Third, it was verified that such a characteristic sequence of signals did not appear when an object rolled on the skin surface. Moreover, we demonstrated the effectiveness of the incipient slip information through grasping force control of a two-fingered hand to hold an object regardless of the weight and the surface roughness.From the above results, we conclude that incipient slip detection with a differential output from a pair of artificial Meissner corpuscles fulfils a main role of the static friction sensing mechanism.

本研究的目的是通过开发具有与人体皮肤相同的机械结构和感知功能的人工皮肤，实现静摩擦感知机制。开始，模仿人体手指的结构特征：在硅橡胶表面上成型出脊状突起，并形成具有宏观曲率的形状。将一对相对的PVDF或应变片嵌入脊中作为人工迈斯纳小体。使用具有上述特性的人造皮肤进行以下研究。首先，检测PVDF电路系统的幅度特性，以具有组合的一阶（应力-速率）和三阶（应力-急动）频率特性，在这两者之间具有断点。第二，源自两个膜片中的任一种的差分PVDF电路输出产生指示初始滑移的符号的低频信号波形图案，随后是较高频率滑移序列信号。结果与有限元法对初始滑移的动力学行为分析的仿真结果相一致。第三，验证了物体在蒙皮表面滚动时不会出现这种特征信号序列。此外，我们证明了有效性的早期滑动信息，通过把握力控制的两个手指的手持有的对象，而不管重量和表面粗糙度从上述结果，我们得出结论，早期滑动检测与差分输出从一对人工迈斯纳小体履行的主要作用的静摩擦传感机制。