自己静電容量測定を用いた近接覚・触覚センサ

カテゴリ: 論文誌(論文単位)

グループ名: 【E】センサ・マイクロマシン部門

発行日: 2014/12/01

タイトル(英語): A Proximity and Tactile Sensor Using Self-Capacitance Measurement

著者名: 辻　聡史（福岡大学工学部電気工学科），小浜　輝彦（福岡大学工学部電気工学科）

著者名(英語): Satoshi Tsuji (Dept. of Electrical Engineering, Fukuoka University), Teruhiko Kohama (Dept. of Electrical Engineering, Fukuoka University)

キーワード: 触覚センサ，近接覚センサ，自己静電容量測定　　Tactile sensor，Proximity sensor，Self-capacitance measurement

要約(英語): We propose a proximity and tactile sensor using self-capacitance measurement. The proposed sensor consists of the two electrodes (E1 and E2), GND and elastic body. The capacitance between E1 or E2 and GND is measured by switching between E1 and E2. The capacitance between E2 and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. In addition, the capacitance between E1 and GND is used to detect the indentation on contact. In the experiment, detection of the object before and after contact, and identification of materials on contact were demonstrated. In addition, the object is grasped by the proposed sensor which detects the object at proximity and contact range. This technique may be applicable to proximity and tactile sensor for robot.

本誌: 電気学会論文誌E（センサ・マイクロマシン部門誌） Vol.134 No.12 （2014）

本誌掲載ページ: 400-405 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/ieejsmas/134/12/134_400/_article/-char/ja/