Research and development of the tactile sensor architecture in which integrate tactile sense

在这项研究中，开发了触觉传感器结构，通过相同的模拟电路测量接触、滑动和接近信息。因此，可以实现安装在机器人上的触觉传感器系统和各种机械系统的先进特性。利用该方法解决了多个检测元件的接线问题。并且还通过使用模拟电路网络，解决了伴随检测元件的增加的响应延迟的问题。此外，还研制了滑移传感器，能够在滑移开始前检测出滑移。该传感器是一种结构简单、重量轻、响应速度快的传感器。在本研究中，将所开发的传感器安装在机械手和自主车辆上，进行了验证实验，并在实验中阐明了其可行性。

In this research, the tactile sensor architecture which measures contact, slip and proximity information by the same analog circuit was developed. Thus, advanced features of the tactile sensor system mounted on robots and various mechanical system can be achieved. By this method, the solution of the wiring problem which connects many detection elements was proposed. And also by using an analog circuitry network, solution to the problem of the response delay accompanying the increase in a detection element was attained. Moreover, the slip sensor which can detect the slip just before beginning to slip was developed. The sensor is a high-speed response with a simple structure and thin light weight. In this research, the these-developed sensor was mounted to the robot hand and the autonomous vehicle, the verification experiment was conducted, and the availability was clarified in the experiment.