触覚神経網チップを用いた温力感センサスティックによる熱流の測定
触覚神経網チップを用いた温力感センサスティックによる熱流の測定
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: 2019/08/01
タイトル(英語): Heat Flow Measurement by Force and Thermal Sensor Stick with Nerve-net LSI Chip
著者名: 土屋 駿斗(名城大学理工学部メカトロニクス工学科),菅沼 雄介(名城大学理工学部メカトロニクス工学科),室山 真徳(東北大学マイクロシステム融合研究開発センター),中山 貴裕(トヨタ自動車(株)T-フロンティア部),野々村 裕(名城大学理工学部メカトロニクス工学科)
著者名(英語): Hayato Tsuchiya (Department of Mechatronics Engineering, Meijo University), Yusuke Suganuma (Department of Mechatronics Engineering, Meijo University), Masanori Muroyama (uSIC, Tohoku University), Takahiro Nakayama (T-Frontier Division, Toyota Motor Corporation), Yutaka Nonomura (Department of Mechatronics Engineering, Meijo University)
キーワード: 触覚センサ,力センサ,温度センサ,熱流,神経網,ロボット tactile sensor,force sensor,thermal sensor,heat flow,nerve-net,robot
要約(英語): Assistant robots need a tactile sensing system. We propose a tactile sensor head with a nerve-net sensing system which measures force, temperature and heat flow on robot fingers. For accurate heat flow measurements, it is necessary to stabilize contact conditions between the sensor head and objects. A sensor stick which consists of the sensor head and an actuator was fabricated to control applied force. Heat flow measurements in three materials of different thermal conductivities such as polyethylene, glass and aluminum were examined with the sensor stick. For the measurement, the sensor head was heated at 0.55W and brought into contact with the measurement object for 180s. Materials were discriminated clearly by temperature changes and heat flow changes. Finally, 13 kinds of materials with different thermal conductivities were measured. Under 10W/mK in thermal conductivities of measurement objects, heat flow peaks, heat flow saturations and heat flow time constants showed good correlations with the thermal conductivities. Over 10W/mK heat flow peaks, heat flow saturations and heat flow time constants were saturated to 0.7W, 0.4W and 40s, respectively. The tactile sensor stick with heat flow measurement and force control is useful to discriminate materials of objects as smart as a human being.
本誌: 電気学会論文誌E(センサ・マイクロマシン部門誌) Vol.139 No.8 (2019)
本誌掲載ページ: 258-264 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/139/8/139_258/_article/-char/ja/
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