Fundamental research for the tactile sensor to apply an endoscope

当触觉传感器与硅橡胶、金属和塑料接触时，可以通过石英晶体音叉触觉传感器在共振振动时阻抗变化的增加来判断其硬度或柔软度。从黄铜、不锈钢、铜、铁、铝、丙烯酸树脂、多种硅橡胶的接触检验来看，其硬度越硬阻抗变化越大，而柔软度越大阻抗变化越小。结果表明，通过石英晶体音叉触觉传感器在接触检测前后阻抗变化的增加来判别其硬度是可能的。在此基础上，建立了石英晶体音叉触觉传感器与物体接触的模型。石英晶体音叉的底座经受弯曲振动。用温克勒基础确定的物体与基座接触时的反作用力，应用于基座的运动方程。考虑丙烯酸树脂壳体的横向夹紧力和接触物体的温克勒基础，对音叉触觉传感器的频率进行了分析。频率敏感地取决于杨氏模量/密度的比值。至于金属检查，频率分为两组：一组包括黄铜和铜，另一组包括不锈钢，铝和铁。对于硅橡胶检测，频率也敏感地取决于杨氏模量/密度的比值。频率分为两组。由于硅橡胶是粘弹性材料，触觉传感器可以通过频率变化来区分硅橡胶的粘弹性。

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.