触覚機能を内包する高速・高精度近接覚センサ

―第1報：センサモジュールの開発と接触判定の実現―

抄録

We developed a compact size proximity sensor that detects the distance and the tilt angle of an object surface within 1ms, capable of the distance resolution approximately 20-times more precise than existing sensors. And, we realized a robust contact detection method using the sensor that does not depend on the reflectance, the tilt angle and shapes of an object surface. High-precision measurement of the distance enables contact detection independent of the contact force. In this paper, we describe the principle, parameters and the circuit of the sensor for precision measurement and contact detection method. We also demonstrated that the hand could catch the paper balloon fast without crushing it.