抄録
This paper is a study on the development of a sensor for measuring tactile sensation. An active sensing system using the piezoelectric effect of a PVDF (Polyvinylidene Fluoride) film is assembled. The sensor is attached on the tip of a robot finger driven by a piezoelectric bimorph strip and the root of the finger is mounted on a linear slider. An active sensing, slide, is introduced to collect the information on tactile feelings. 7 kinds of sensor surface are prepared and the output is investigated in order to improve the sensor. Next, haptic actions on fabrics by experts and subjects in general are examined. Finally, the relation between sensor performance and the variation of contact force is investigated. It is confirmed that there is the optimum contact force for the measurement, and by using the optimum contact force the sensor output have very clear correlation with human touch feelings. The obtained results showed that this sensor system is available for measuring tactile sensation.
