A study on three axis tactile sensors mounted on multi-fingered robotic hands

安装在多指机械手上的三轴触觉传感器的研究

• 批准号: 13650288
• 负责人: OHKA Masahiro
• 金额: $ 2.18万
• 依托单位: Nagoya University (2003)Shizuoka Institute of Science and Technology (2001-2002)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650288/
• 关键词: Robotics and mechatronics; Sensor; Multi-fingered hand; Tactile; Three-axis; Surface recognition; Object recognition; ロボットメカトロニクス; 安定把持; 物体認識

In order to develop a new three-axis tactile sensor mounted on multi-fingered robotic hands, optimization of sensing elements was performed on the basis of the author's previous works concerning with optical three-axis tactile sensors having flat sensing surface. Next, a semispherical surfaced sensor was designed using the optimized sensing elements because the semispherical sensing surface was suited to the multi-fingered robotic hand. Obtained results are summarized as follows:(1)Deformation of sensing elements accepting shearing force was examined to analyze continuous contact tests sliding the sensor on object surfaces. Taking the deformation effect into account, expressions for three-axis force estimation were formulated.(2)Characteristics of three types of sensing elements were examined to survey an optimum element. At the result of the investigation, a sensing element having one columnar feeler and 8 conical feelers had wide range of shearing force detection and excellent linearity.(3)Since semispherical sensing surface was suited to the multi-fingered robotic hand, a finger-typed tactile sensor was designed with the semispherical sensing surface and the 8-columnar-feelers typed sensing elements. And transform expressions were formulated to obtain correct contact areas located on semispherical surfaces.(4)When the expressions were evaluated using a loading machine, integration of gray scale value varied linearly under increases in normal force.

为了研制一种新型的安装在多指机械手上的三轴触觉传感器，在作者前期研究平面光学三轴触觉传感器的基础上，对传感元件进行了优化。其次，考虑到半球面传感面适合多指机械手，利用优化后的传感元件设计了半球面传感器。得到的结果总结如下：(1)研究了传感元件受剪切力的变形，分析了传感器在物体表面滑动的连续接触试验。考虑变形效应，建立了三轴力估计表达式。(2)考察了三种传感元件的特性，优选出最优传感元件。研究结果表明，由1根柱状触角和8根锥形触角组成的传感元件具有较宽的剪切力检测范围和良好的线性性。(3)针对半球形传感面适合多指机械手的特点，采用半球形传感面和8柱触角传感元件，设计了一种手指型触觉传感器。并建立了相应的变换表达式，得到了位于半球面上的正确接触面积。(4)用加载机计算表达式时，随着法向力的增大，灰度值的积分呈线性变化。

项目成果

大岡昌博: "触覚センサ・ディスプレイ"機械の研究. 54-11. 1133-1140 (2002)

Masahiro Ooka：“触觉传感器/显示器”机器研究 54-11（2002）。

Masahiro OHKA et al.: "Surface Texture Presentation Using a Tactile Display Featuring with an Array of Piezoelectric Bimorph Actuators"Proc.of 2002 Pacific Conference on Manufacturing. 246-251 (2002)

Masahiro OHKA 等人：“使用具有压电双压电晶片执行器阵列的触觉显示器进行表面纹理呈现”2002 年太平洋制造会议论文集。

Masahiro Ohka, Yasunaga Mitsuya, Yasuaki Natsunaga, Shuichi Takeuchi: "Sensing Characteristics of an Optical Three-axis Tactile Sensor Under Combined Loading"Robotica. (to be published).

Masahiro Ohka、Yasunaga Mitsuya、Yasuaki Natsunaga、Shuichi Takeuchi：“组合负载下光学三轴触觉传感器的传感特性”Robotica。

川原壮, 大岡昌博, 山根直樹, 三矢保永: "光導波形三軸触覚センサの感度特性向上に関する研究"日本機械学会2002年度年次大会講演論文集. No.02-1. 231-232 (2002)

So Kawahara、Masahiro Ooka、Naoki Yamane、Yasunaga Mitsuya：“提高光波导三轴触觉传感器灵敏度特性的研究”日本机械工程学会2002年年会论文集No.02-232。 2002）

Masahiro OHKA, Takuya KAWAMURA, Tatsuya ITAHASHI, Tetsu MIYAOKA, Yasunaga MITSUYA: "Tactile recognition system mimicking Human surface unevenness recognition mechanism"J. of JSME Series C (in Japanese). Vol.69,No.682. 1719-1725 (2003)

Masahiro OHKA、Takuy​​a KAWAMURA、Tatsuya ITAHASHI、Tetsu MIYAOKA、Yasunaga MITSUYA：“模仿人体表面凹凸识别机制的触觉识别系统”J.