コーティング式触覚センサの開発

―接触位置信号の再構成とそれに基づく位置推定法の提案―

抄録

This paper presents the development of a tactile sensor that has a simple structure and can be sprayed over three-dimensional shapes such as curved surfaces. The sensor can be modeled by the distributed constant RC circuit, and the contact point is detected as a signal phase delay caused by it. It was found that the accuracy of position detection using the time delay between signals decreases depending on the input frequency. And so a new position detection method that does not depend on frequency was proposed. The method is based on finding the input-output relationship between the contact point and the output terminals using the z-transform. A method of reconstructing the voltage waveform generated at different contact points from the corresponding inverse transfer function was developed and from the error between these waveforms the position can be estimated. Discussions regarding details of the system and test results are presented.