単一圧電振動型触覚センサによる滑り方向・初期滑りの検出とハンドグリッパへの応用

摘要

A tactile sensor is important for robotics and handling to measure applying forces and detect contact condition between grippers and objects. This paper presents the detection of sliding direction and incipient slipping with single piezoelectric vibration tactile sensors for hand robotic gripper. The piezoelectric vibration-type tactile sensors have a high sensitivity and a wide measurement range. The proposed tactile sensor is designed by embedding the piezoelectric vibration sensors in a Polydimethylsiloxane (PDMS) basis for stable responses. The basic experiment of sliding detection and application for hand-gripper are demonstrated by the proposed tactile sensor between an aluminum plate and a sensor surface covered by soft-material to detect the sliding direction and the incipient slipping.%近年，高齢化や少子化が進む中，医療・介護といった分野においてロボットが注目されており，日常で人間の代わりに作業させるなど，人間と同様な複雑かつ器用な作業を行うための実用的なロボットが求められてきている．ロボットの器用な動作や，環境に対する適合性の向上を実現させるためには，センシング技術が重要であり，特に触覚センサは物体の操りや環境の検出のために重要である．