複数の支持点を有する甲殻型触覚センサの開発とマニピュレータへの応用

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2011/09/01

タイトル(英語): Development of a Whole-Body Haptic Sensor with Multiple Supporting Points and Its Application to a Manipulator

著者名: 羽生　良輔（埼玉大学），辻　俊明（埼玉大学）

著者名(英語): Ryosuke Hanyu (Saitama University), Toshiaki Tsuji (Saitama University)

キーワード: ハプティックス，ロボット，力覚，触覚，ヒューマンロボットインタラクション　　haptics，robot，force sensing，haptic sensing，human robot interaction

要約(英語): This paper proposes a whole-body haptic sensing system that has multiple supporting points between the body frame and the end-effector. The system consists of an end-effector and multiple force sensors. Using this mechanism, the position of a contact force on the surface can be calculated without any sensor array. A haptic sensing system with a single supporting point structure has previously been developed by the present authors. However, the system has drawbacks such as low stiffness and low strength. Therefore, in this study, a mechanism with multiple supporting points was proposed and its performance was verified. In this paper, the basic concept of the mechanism is first introduced. Next, an evaluation of the proposed method, performed by conducting some experiments, is presented.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.131 No.9 （2011）

本誌掲載ページ: 1128-1134 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/131/9/131_9_1128/_article/-char/ja/