空気圧腱駆動機構を用いた人工指による材質認識システムに関する研究

摘要

Personal care robots are expected to be valuable labor force in Japan that is entering an aging society. When using the personal care robot in the same space as humans, there are many safety issues. Personal care robots are actively researched, and flexible pneumatic actuators are used there. Collecting environmental information is necessary for robots and humans to coexist safely. Research on the tactile field of the robot does not reproduce the human skin sensation and the like but utilizes data obtained from contact sensors and the like as a physical quantity different from human skin sensation. However, there are many problems that have not yet been elucidated for the mechanism of human material recognition. Tactile sensation is a sense that it is possible to detect the hardness, surface roughness, temperature of an object for the first time by touching and moving an object unlike vision and hearing, and it is a sensation that it is important to actively move a finger.