ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-C04
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接触安全評価を目的とした軟組織内部のせん断ひずみ分布可視化システムの開発
*李 豊羽秋山 靖博山田 陽滋岡本 正吾
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The measurement of internal stress and strain distribution inside the soft material, which is demanded in the field of skin contact safety, are hard to be obtained nor estimated using conventional interactive force sensors except for limited situations. In this study, a shear strain sensor system based on the distributed built-in piezoelectric Polyvinylidene Fluoride (PVDF) polymer films is developed for measuring the shear strain field inside soft material and evaluated. The sensing principle is modelled by relating the local shear strain of substrate and the charge generation induced by piezoelectricity in the in-plane mode. The validity of this sensor system was tested by measuring the three-dimensional shear strain distribution of an artificial human tissue under simple shear deformation. An applicable consistency calibration method is also considered for this kind of multi-sensor system. The detected shear strain distributions by this sensor system show a good agreement with the numerical simulation of the substrate. The proposed sensor system using distributed built-in PVDF films is confirmed to sensitively detect the distribution of the shear strain inside soft material.

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