パートナーロボットへの応用を目指した集積化力覚センサ素子によるモーメント検知

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: 2020/08/01

タイトル(英語): Moment Detection by Integrated Tactile Sensors for Partner Robot Applications

著者名: 藤吉　基弘（（株）豊田中央研究所），畑　良幸（（株）豊田中央研究所），美馬　一博（トヨタ自動車（株）），平野　栄樹（東北大学），室山　真徳（東北大学），田中　秀治（東北大学），中山　貴裕（トヨタ自動車（株））

著者名(英語): Motohiro Fujiyoshi (Toyota Central R&D Labs., Inc.), Yoshiyuki Hata (Toyota Central R&D Labs., Inc.), Kazuhiro Mima (Toyota Motor Corporation), Hideki Hirano (Tohoku University), Masanori Muroyama (Tohoku University), Shuji Tanaka (Tohoku University), Takahiro Nakayama (Toyota Motor Corporation)

キーワード: 力覚センサネットワーク，集積化力覚センサ，モーメント検出，3軸力検出，せん断力　　tactile sensor network，integrated tactile sensor，moment detection，3-axis force detection，shearing force

要約(英語): This paper reports on moment detection by three integrated tactile sensors that detect 3-axis forces. In this study, the three integrated tactile sensors were connected along a serial bus and were mounted in a triangle shape on a circuit board. Out-of-plane moment applied on the circuit board was measured using the shearing forces and a geometric relationship of the triangle sensor allay. The principle of the proposed moment detection method was demonstrated. The experimental results showed that the sensitivity and the nonlinearity were 1.10 count/N・m and ±16% full scale, respectively. The resolution of the obtained moment was below 0.015 N・m. The moment detection ability enables the partner robots to grasp objects correctly and to interact softly with human.

本誌: 電気学会論文誌E（センサ・マイクロマシン部門誌） Vol.140 No.8 （2020）

本誌掲載ページ: 201-208 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/140/8/140_201/_article/-char/ja/