導電性フィラメントを用いた全指触覚センサ付き五指ハンドの設計と挿入後屈曲動作への応用
Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion
導電性フィラメントで作った神経線を柔軟な表皮に埋め込み、指全体の接触位置を抵抗変化から推定する触覚センサを開発し、ロボットが工具に指を挿入してから曲げる動作を実現した。
著者: Kazuhiro Miyama, Shun Hasegawa, Kento Kawaharazuka, Naoya Yamaguchi, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after insertion motion). In order to know the contact points of the full finger including the joints, we propose to fabricate a nerve inclusion flexible epidermis by combining a flexible epidermis and a nerve line made of conductive filaments, and estimate the contact position from the change of resistance of the nerve line. A nerve inclusion flexible epidermis attached to a thin fingered robotic hand was combined with a twin-armed robot and tool use experiments were conducted. The contact information can be used for tool use, confirming the effectiveness of the proposed method.
