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

集成触觉的触觉传感器架构的研发

• 批准号: 22240012
• 负责人: SHIMOJO makoto
• 金额: $ 28.2万
• 依托单位: The University of Electro-Communications
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 2010
• 资助国家: 日本
• 起止时间: 2010-04-01 至 2014-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-22240012/
• 关键词: センサ融合・統合; 触覚; 近接覚; すべり覚; 触覚センサ; 近接覚センサ; センサ融合･統合

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.

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。

项目成果

Knotting Plan based on Synthesis of Manipulation Skillswith Considerations of Robot Hand Mechanism and Motion

考虑机器人手机构和运动的基于操纵技能综合的打结方案

• DOI: 10.7210/jrsj.31.283
• 发表时间: 2013
• 期刊: Journal of the Robotics Society of Japan
• 作者: Yuji Yamakawa;Akio Namiki;and Masatoshi Ishikawa;村上健一,並木明夫;山川雄司,並木明夫,石川正俊;山川雄司,並木明夫,石川正俊,下条誠
• 通讯作者: 山川雄司,並木明夫,石川正俊,下条誠

Hemispherical Net-Structure Proximity Sensor Detecting Azimuth and Elevation for Guide Dog Robot

导盲犬机器人半球网状结构接近传感器方位角和仰角检测

• 发表时间: 2013
• 作者: Arita;Hikaru;Suzuki;Yosuke; Ogawa;Hironori; Tobita;Kazuteru; Shimojo;Makoto
• 通讯作者: Makoto

Connected Tracked Robot with Offset Joint Mechanism for Multiple Configurations

具有多种配置的偏置关节机构的互联履带式机器人

• 发表时间: 2010
• 作者: Tadakuma;K.; Ohishi;C.; Maruyama;A.; Tadakuma;R.; Nagatani;K.; Yoshida;K.; Aiguo Ming; Shimojo;M
• 通讯作者: M

IEEE ICIA Best Conference Paper of ICAL 2013(受賞)

IEEE ICIA ICAL 2013最佳会议论文（获奖）

Motion planning of a golf swing robot

高尔夫挥杆机器人的运动规划

• 发表时间: 2012
• 期刊: MECHATRONICS
• 影响因子: 3.3
• 作者: Xu;Chunquan; Yang;Zhizhen; Ming;Aiguo; Shimojo;Makoto
• 通讯作者: Makoto