Development of a flexible structural contact force sensor which obtains the contact information on the contact surface

在这项研究中，我们开发了一种柔性结构的接触式力传感器。聚碳酸酯和蒸汽生长的碳纤维片被用来将压力信号转换为电信号。我们将这种材料放入传感器中，测量四轴接触力。利用神经网络学习程序识别四轴接触力与输出信号之间的关系。实验结果表明，通过该学习程序和输出信号可以较好地估计出四轴接触力。此外，我们还开发了一种可以检测接触点的柔性触觉装置。实验验证了接触点的检测能力。

In this study, we have developed a flexible structural contact force sensor. A polycarbonate with vapor grown carbon fiber sheet was used to translate from pressure to electrical signals. We have arranged this material into the sensor to measure four axis contact forces. A relation between four axis contact force and output signals are identified by a learning program of neural network. We confirmed that four axis contact force can estimate appropriately by this learning program and output signals experimentally. In addition, we have developed a flexible tactile device which can detect contact points. Detection capability of contact point was confirmed experimentally.