M3D-skin：階層インフィル構造を用いたマルチマテリアル3Dプリント触覚センサ
M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing
マルチマテリアルFDM 3Dプリンタのインフィルパターンを利用し、導電性・非導電性フィラメントで階層構造を作ることで、容易に作製できる触覚センサを提案した論文。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Shunnosuke Yoshimura, Kento Kawaharazuka, Kei Okada
分類: cs.RO
原文アブストラクト
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study, we propose a tactile sensor-M3D-skin-that can be easily fabricated with high versatility by leveraging the infill patterns of a multi-material fused deposition modeling (FDM) 3D printer as the sensing principle. This method employs conductive and non-conductive flexible filaments to create a hierarchical structure with a specific infill pattern. The flexible hierarchical structure deforms under pressure, leading to a change in electrical resistance, enabling the acquisition of tactile information. We measure the changes in characteristics of the proposed tactile sensor caused by modifications to the hierarchical structure. Additionally, we demonstrate the fabrication and use of a multi-tile sensor. Furthermore, as applications, we implement motion pattern measurement on the sole of a foot, integration with a robotic hand, and tactile-based robotic operations. Through these experiments, we validate the effectiveness of the proposed tactile sensor.
