磁気式触覚センサによる変位の計測と分解能

中本 裕之; 伍賀 正典; 武縄 悟; 貴田 恭旭

doi:10.11511/jacc.53.0.245.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 517

DOI https://doi.org/10.11511/jacc.53.0.245.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Robot Interaction 2

Displacement Sensing and Resolution of Magnetic Type Tactile Sensor

*Hiroyuki Nakamoto, Masanori Goka, Satoru Takenawa, Yasuaki Kida

Author information

Keywords: Tactile sensor, Displacemnet Measurement, Resolution Performance

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

A novel magnetic type tactile sensor has been proposed for robotic dexterity. The tactile sensor has 4 magnetoresistance elements and 4 inductors. The magnetoresistance elements can measure triaxial displacement and contact force, and the inductors can detect slips while the stick-slip phenomena. Then, it is necessary for the tactile sensor to be miniaturized. In this paper, we designed miniaturized sensors by the electromagnetic analysis. Their resolution performances are evaluated using some experimental productions.

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