イオン導電性高分子・貴金属接合体を用いた形状と表面粗さを同時計測する触覚センサ

抄録

The purpose of this study is to develop a tactile sensor based on an ionic polymer-metal composite (IPMC) which can realize simultaneous measurements of surface shape and texture. In this paper, we verify the possibility of simultaneous measurements through experiments. The object shape is estimated by using an observer system based on an identified model of the sensor response. The roughness of the surface texture is estimated by a frequency analysis of sensing signals.