Research and development of the tactile sensor architecture in which integrate tactile sense

在本研究中，触觉传感器架构，测量接触，滑动和接近信息，由同一个模拟电路的开发。因此，可以实现安装在机器人和各种机械系统上的触觉传感器系统的先进功能。该方法解决了多个检测元件之间的布线问题。并且还通过使用模拟电路网络，解决了伴随检测元件增加的响应延迟问题。此外，还开发了能够在打滑开始之前检测打滑的打滑传感器。该传感器具有结构简单、重量轻、响应速度快等特点。在本研究中，这些开发的传感器安装到机器人手和自主车辆，进行验证实验，并在实验中阐明的可用性。

In this research, the tactile sensor architecture which measures contact, slip and proximity information by the same analog circuit was developed. Thus, advanced features of the tactile sensor system mounted on robots and various mechanical system can be achieved. By this method, the solution of the wiring problem which connects many detection elements was proposed. And also by using an analog circuitry network, solution to the problem of the response delay accompanying the increase in a detection element was attained. Moreover, the slip sensor which can detect the slip just before beginning to slip was developed. The sensor is a high-speed response with a simple structure and thin light weight. In this research, the these-developed sensor was mounted to the robot hand and the autonomous vehicle, the verification experiment was conducted, and the availability was clarified in the experiment.