・名古屋工業大学学術機関リポジトリは、名古屋工業大学内で生産された学術情報を電子的に収集・保存・発信するシステムです。 ・論文の著作権は、著者または出版社が保持しています。著作権法で定める権利制限規定を超える利用については、著作権者に許諾を得てください。 ・著者版フラグに「author」と記載された論文は、著者原稿となります。実際の出版社版とは、レイアウト、字句校正レベルの異同がある場合もあります。 ・Nagoya Institute of Technology Repository Sytem is built to collect, archive and offer electronically the academic information produced by Nagoya Institute of Technology. ・The copyright and related rights of the article are held by authors or publishers. The copyright owners' consents must be required to use it over the curtailment of copyrights. ・Textversion "Author " means the article is author's version. Author version may have some difference in layouts and wordings form publisher version.
ジュウナンセイ ト シンシュクセイ ノ アル セイデンキシキ ショッカク センサ ノ ゲンリ ト トクセイ
A Principle and Characteristics of a Flexible and Stretchable Tactile Sensor Based on Static Electricity Phenomenon
Tactile sensors are required for various robots. In humanoid robots, softness is an important feature for physical damage prevention and for interacting with the human. Moreover, if the sensor is made of stretchable material, the sensor is unbreakable and can be put on curved surfaces and joints easily. This paper proposes a novel tactile sensor which is flexible and stretchable because it is made of soft material. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions. Detail of principle and basic characteristics of the proposed sensor are reported in the paper. Experiments show that the sensor output depends on touch area, touch velocity, and material of touch objects. However, the sensor does not depend on touch weight. Moreover, an experiment shows that even if the proposed sensor is stretched, it performs as the tactile sensor.
柔軟性と伸縮性のある静電気式触覚センサの原理と特性
本文_fulltext
(6.17MB)
