A Three-axis Tactile Sensor Featuring Data Conversion Capability of an Optical Waveguide and a Rubber Sheet

具有光波导和橡胶片数据转换能力的三轴触觉传感器

• 批准号: 07650313
• 负责人: OHKA Masahiro
• 金额: $ 1.41万
• 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 (C)
• 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-07650313/
• 关键词: Tactile Sensor; Data Conversion Copability; Optical Waveguide; Pyramidal Projection; Checkered Rubber Sheet; Three-Axis; Hardness Detection; Surface Radius Detection; ロボット工学; 三軸力検出; 心理物理実験; 段差識別; ニューロンモデル; マニピュレータ搭載; ピラミッドアレイ; 接触変形解析; マニピュ

In order to enhance robotic tactile sensation, we developed a tactile sensor comprised from a flat rubber sheet and an acrylic plate (optical waveguide) featuring an array of pyramidal projections. The back surface of the rubber sheet was checkered with square concave and convex portions. Since each single concave or convex portion was arranged to press the pyramidal projections of 2-by-2 array, the three-dimensional force applied to the back side of the concave and the convex portions could be calculated from the distribution of the four contact areas of the projections. The object's hardness was measured from the difference between the contact areas of concave and convex portions. The three-dimensional coordinates of the object's surface were able to be derived from the contact areas of the entire projected array. Experimental results confirmed that the sensor was capable of perceiving the degree of three-dimensional force applied to the sensor surface as well as the hardness and the radius of the objects being sensed.

为了增强机器人的触觉，我们开发了一种触觉传感器，该传感器由平坦的橡胶片和具有金字塔形突起阵列的丙烯酸板（光波导）组成。橡胶片的背面用正方形凹部和凸部进行方格。由于每个单独的凹部或凸部被布置成按压2 × 2阵列的棱锥形突起，因此可以从突起的四个接触区域的分布计算施加到凹部和凸部的后侧的三维力。根据凹部和凸部的接触面积之差测量物体的硬度。物体表面的三维坐标能够从整个投影阵列的接触区域中导出。实验结果表明，该传感器能够感知施加到传感器表面的三维力的程度以及被感测物体的硬度和半径。

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: "光導波形三軸触覚センサシステムの試作" 日本機械学会論文集(C編). 62巻・598号. 2250-2256 (1996)

Masahiro Ooka：“光波导三轴触觉传感器系统的原型”日本机械工程师学会会刊（ed.C）第 62 卷，第 598 期。2250-2256（1996 年）。

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)

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）。