Fundamental research for the tactile sensor to apply an endoscope

触觉传感器应用于内窥镜的基础研究

基本信息

批准号：
14550414
负责人：
ITOH Hideaki
金额：
$ 2.11万
依托单位：
Shinshu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2003
项目状态：
已结题

项目摘要

When a tactile sensor gets brought in contact with silicone rubber, metals and plastics, their hardness or softness could be discriminated by judging from an increase in impedance change of a quartz-crystal tuning-fork tactile sensor at resonant vibration. From the contact examination of brass, stainless steel, copper, iron, aluminum, acrylic resin, and many kinds of silicone rubber, the impedance change becomes bigger as their hardness becomes harder, but smaller as their softness becomes bigger. It turns out that it is possible to discriminate their hardness by judging from an increase in impedance change of a quartz-crystal tuning-fork tactile sensor between before and after the contact examination. Furthermore, a model for a quartz-crystal tuning-fork tactile sensor in contact with an object is constructed. The base of a quartz crystal tuning fork undergoes flexural vibration. The reaction force, determined using Winkler's foundation, of an object in contact with the base is applied to the equation of motion of the base. The frequency of the tuning-fork tactile sensor is analyzed by considering the lateral clamping force of an acrylic resin case and Winkler's foundation of the object in contact. The frequency depends sensitively on the ratio Young's modulus/density. As for metals examination, the frequency is classified into two groups : one includes brass and copper, and the others include stainless steel, aluminum, and iron. As for silicone rubber examinations, the frequency also depends sensitively on the ratio Young's modulus/density. The frequency is classified into two groups. It is possible for the tactile sensor to discriminate viscoelasticity of a silicone rubber as a frequency change because silicone rubber is viscoelastic material.

当触觉传感器与硅胶橡胶，金属和塑料接触时，可以通过在谐振振动下的石英 - 晶体调谐叉触觉传感器的阻抗变化来判断，可以区分其硬度或柔软度。通过对黄铜，不锈钢，铜，铁，铝，丙烯酸树脂的接触式检查以及许多类型的硅橡胶，随着硬度的硬度变得更硬，阻抗变化变得更大，但是随着柔软度变得更大，它们的柔软度变得更小。事实证明，可以通过在接触检查之前和之后之间与石英 - 晶体调谐式触觉传感器的阻抗变化的增加来区分它们的硬度。此外，构建了与物体接触的石英 - 晶体调谐式触觉传感器的模型。石英晶体调谐叉的底部经历了弯曲的振动。使用Winkler的基础确定的与基座接触的物体确定的反应力被应用于基座运动方程。通过考虑丙烯酸树脂盒的横向夹紧力和Winkler的基础，分析了调谐叉触觉传感器的频率。频率敏感地取决于年轻的模量/密度。至于金属检查，将频率分为两类：一组包括黄铜和铜，其他频率包括不锈钢，铝和铁。至于有机硅橡胶检查，频率还敏感地取决于年轻的模量/密度。频率分为两组。触觉传感器可能会区分硅橡胶的粘弹性作为频率变化，因为硅橡胶是粘弹性材料。