Estimation method using genetic programming for location and depth on distributed tactile sensor

摘要

Tactile sensors are required in various areas such as robotics, human interfaces. Since sensing elements and wiring space are limited, it is important that a few sensing elements cover a large area. In this study, a tactile sensor which comprises of an elastic layer and a substrate layer is proposed. This sensor has some magnets and giant magnetoresistance effect elements (GMR elements) as sensor elements. The tactile sensor estimates a location and depth of a touch based on the output voltages of GMR elements. The estimate equation is determined by the genetic programming. The effectiveness of the tactile sensor is confirmed through laboratory experiments.