温覚提示のための温度センシング機能を有するマイクロフィンガーに関する研究

抄録

This paper presents the integration of temperature sensor in a micro-finger as a slave robot. Our group has reported micro-fingers driven by pressure balloon actuator (PBA). In the medical field, it is possible to perform minimally invasive diagnosis and treatment by putting a micro-finger in the body. In this study, we focus on thermal sense of human sensory functions. By presenting a sense of thermal sense it is possible to measure the temperature inside the body and detect the abnormal parts. We integrated temperature sensors in a micro-finger. As a result of evaluation on temperature characteristics and durability, we succeeded in constructing a micro-finger with high accuracy and durability.