A MICRO OPTICAL THREE-AXIS TACTILE SENSOR CAPABLE OF RECOGNIZING A MICRO OBJECT

一种能够识别微小物体的微型光学三轴触觉传感器

• 批准号: 07555057
• 负责人: OHKA Masahiro
• 金额: $ 9.47万
• 依托单位: SHIZUOKA INSTITUTE OF SCIENCE AND TECHNOLOGY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555057/
• 关键词: Micro Scope; Tactile Sensor; Optical Waveguide; Three-Axis; Conical Feeler; Feeler Displacement; Gray Scale Value; Tactile Presentation; マイクロマシン; 三軸力検; 二軸精密荷重試験機; FEMシミュレーション; 輝度値計測; 降伏現象; 三動力検出; 放電加工; 光ファイバー; 拡大モデル; 移動硬化モデル; 負荷実験; 三軸力

A micro optical three-axis tactile sensor was capable of sensing not only vertical force but also horizontal force. The vertical force was detected from the contact area of conical feelers formed on the rubber sheet surface of an optical waveguide type tactile sensor. The horizontal force was detected from the horizontal displacement of the conical feelers. To validate the above-mentioned principle, a robot equipped with a torque-moment sensor applied several combined forces to a large sized tactile sensor surface. As indicated by the experimental results, the vertical force was specified uniquely under combined force conditions and the horizontal force was specified by modifying the relationship between the horizontal force and the horizontal displacement on the basis of vertical force. Subsequently, the micro optical tactile sensor was developed using a precise electric discharge milling machine. In the sensor, the vertical force was more precisely determined by integration of gray scale vale than by the contact areas of conical feelers. Finally, the others attempted to apply the sensor to a master-slave system using a tactile presentation device capable of generating virtual surface texture. Three human subjects discriminated ten pattern of the texture.

一种微型光学三轴触觉传感器，不仅能够感测垂直力，而且能够感测水平力。垂直力是从形成在光波导型触觉传感器的橡胶片表面上的圆锥形测隙规的接触区域检测的。水平力由圆锥测隙规的水平位移来检测。为了验证上述原则，机器人配备了扭矩传感器施加几个组合力的大尺寸的触觉传感器表面。如实验结果所示，在组合力条件下唯一地指定垂直力，并且通过基于垂直力修改水平力与水平位移之间的关系来指定水平力。随后，微型光学触觉传感器的开发，使用精密电火花铣床。在传感器中，通过灰度值的积分比通过锥形探针的接触面积更精确地确定垂直力。最后，其他人试图将传感器应用于使用能够生成虚拟表面纹理的触觉呈现设备的主从系统。三个人类受试者区分十种纹理模式。

项目成果

Masahiro OHKA: "A Micro Optical Three-axis Tactile Sensor (Validation of Sensing Principle Using Models)" Advances in Information Storage System. (to be published).

Masahiro OHKA：“微型光学三轴触觉传感器（使用模型验证传感原理）”信息存储系统的进展。

大岡昌博: "ヒトの触覚による表面粗さ弁別機構の数理モデル" 日本機械学会第75期通常総会講演会. (発表予定). (1998)

大冈正博：“基于人类触觉的表面粗糙度判别机制的数学模型”在日本机械工程学会第 75 届普通大会上的演讲（待发表）。

大岡昌博: "光学式マイクロ三軸触覚センサ(拡大モデルによる原理の検証)" 日本機械学会創立100周年記念講演会IMPT-100講演論文集. No.97-14. 693-698 (1997)

Masahiro Ooka：“光学微型三轴触觉传感器（使用放大模型验证原理）”纪念日本机械工程师学会成立100周年的IMPT-100讲座论文集第693-14号。 698 (1997)

M.Ohka: "Surface Texture Acquisition Using a Robot Manipulator Equipped with an Optical Three-Axis Tactile Sensor" The Third ECPD Int.Conf.on Advanced Robotics,Intelligent Automotion and Active Systems. 170-175 (1997)

M.Ohka：“使用配备光学三轴触觉传感器的机器人操纵器进行表面纹理采集”第三届 ECPD Int.Conf.on 高级机器人、智能自动运动和主动系统。

大岡 昌博: "光導波形三軸触覚センサの試作" 日本機械学会論文集(C編). 62・598. 2250-2256 (1996)

Masahiro Ooka：“光波导三轴触觉传感器的原型”日本机械工程师学会会议录（ed.C）2250-2256（1996）。