材質判別に向けた1秒以下の応答性をもつ熱流式温感センサ

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: 2021/06/01

タイトル(英語): Heat-Flow-Type Warmth Sensor with Sub-Second Response for Material Discrimination

著者名: 森　遼雅（名城大学大学院理工学研究科メカトロニクス工学専攻），樋口　創太（名城大学大学院理工学研究科メカトロニクス工学専攻），大橋　祐也（名城大学大学院理工学研究科メカトロニクス工学専攻），土屋　駿斗（名城大学大学院理工学研究科メカトロニクス工学専攻），畑　良幸（名城大学大学院理工学研究科メカトロニクス工学専攻），野々村　裕（名城大学大学院理工学研究科メカトロニクス工学専攻）

著者名(英語): Ryoga Mori (Department of Mechatronics Engineering, Meijo University), Sota Higuchi (Department of Mechatronics Engineering, Meijo University), Yuya Ohashi (Department of Mechatronics Engineering, Meijo University), Hayato Tsuchiya (Department of Mechatro

キーワード: 触覚センサ，温感センサ，熱流，材質判別，熱等価回路　　tactile sensor，warmth sensor，heat flow，material discrimination，thermal equivalent circuit

要約(英語): This paper presents a heat-flow-type warmth sensor with sub-second response that discriminates materials for tactile sensing of robots. In previous study, the original sensor structure was proposed, and the material discrimination using a heat-flow peak in the heat-flow transitional phenomenon was demonstrated. In this study, to realize the material discrimination function as high response as human, the heat-flow-type warmth sensor with sub-second response was developed. Firstly, a thermal equivalent circuit of the sensor was proposed to simulate the transitional heat-flow characteristics. The simulation results showed that the response time of heat-flow peak is improved by reducing a heat capacity of the sensor and a thermal resistance of a surface material in the sensor. Secondly, miniaturized heat-flow-type warmth sensors downsized to 1/3.4 of previous one were fabricated according to the simulation results. The three miniaturized sensors were fabricated using three surface materials with different thermal resistances, and the experimental characteristics were compared to the simulation results. The tendencies of the experimental characteristics were agreement with those of the simulation results. Finally, the experimental results demonstrated the heat-flow-peak response times of 0.2 s with sufficient material discrimination function. Compared to the previous warmth sensor, the response time was improved 28 times.

本誌: 電気学会論文誌E（センサ・マイクロマシン部門誌） Vol.141 No.6 （2021）

本誌掲載ページ: 153-163 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/141/6/141_153/_article/-char/ja/