Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber

Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, Makoto Shimojo

研究成果: Conference contribution

35 被引用数 (Scopus)

抄録

Even with the eyes closed, humans are able to grip an object with minimal force without such information as the coefficient of friction or the weight. Tactile sensors capable of detecting slippage are necessary for this gripping action to be realized in a robot hand. Heretofore, many slip sensors were developed and produced, but there was not a slip sensor of simple structure practical for installation on fingertips of a robot hand. Therefore, we propose a low-profile/lightweight slip sensor of simple structure. The special properties of pressure conductive rubber are utilized as a detection device in this sensor. In this paper, we discuss the results of trial manufacture and of slip detection property testing of this sensor. Moreover, we will report the results of slip prevention experiments by this prototype slip sensor, and indicate that the pressure conductive rubber is promising as a material of slip sensor.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ3289-3294
ページ数6
DOI
出版ステータスPublished - 2009 11 2
外部発表はい
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5 122009 5 17

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
国/地域Japan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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