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Extendable Tactile Sensor Suit with Electro-Plated Knitting

电镀针织可伸缩触觉传感器套装

基本信息

批准号：
13555071
负责人：
INABA Masayuki
金额：
$ 8.64万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13555071/
关键词：
Sensor Suit Robotics Humanoid Tactile Sensor Electrically Fabric Sensor Motor Interaction センサスーツ

项目摘要

This research aims developing a method of extendable tactile sensor suit which can cover the whole-body of a robot body. The basic idea of the tactile sensor suit is to build sensing clothing with electrically plated fabric. The clothes has distributed many sensing units. Each unit is built a sort of mechanical switch which has a layer of the patch of electrically plated fabric and normal fabric as insulators. The wiring from all the units to the brain computing system are built with the electrically plated strings. The advantage of this sensing suit system is to have softness and flexibility that can cover all over the robot body.When a robot wears the tactile sensing suit, the suit may disturb the robot motion caused by the extensibility. When we design the suit tight to the robot body, it is required to have extensibility in its suit. In order to give extensibility into the sensing suit, we adopt a method to build the extensible fabric with knitting structure. The knitting structure is not weaving structure and composed of single string. We have reconstructed the fabric patch of the tactile sensing unit as knitting. The sensing mechanism is same. The tactile sensing suit allows us to perform many tactile-sensor based interactive behaviors on a many-DOF humanoid.

本研究旨在发展一种可延伸的触觉传感器套装，使其能覆盖机器人的全身。触觉传感器服的基本思想是用电镀织物构建传感服装。衣服上分布着许多感应单元。每个单元都是一种机械开关，它有一层电镀织物和普通织物作为绝缘体。从所有单元到大脑计算系统的布线都是用电镀的弦构建的。这种触觉传感服系统的优点是具有柔软性和柔韧性，可以覆盖整个机器人身体，当机器人穿着触觉传感服时，由于可伸展性，可能会干扰机器人的运动。当我们设计与机器人身体紧密贴合的服装时，要求其服装具有伸缩性。为了使传感服具有良好的延展性，我们采用了一种针织结构的可伸展织物的方法。针织结构不是机织结构，而是由单股绳组成。我们将触觉传感单元的织物贴片重建为针织物。感应机制是一样的。触觉传感服允许我们在多自由度人形机器人上执行许多基于触觉传感器的交互行为。