ジャミング転移センサを用いた三次元柔軟電極機構の開発

抄録

Universal Vacuum Hand (in short UVH) based on jamming transition of conductive granular material is expected as one of the universal robotic hand with tactile sensing. The principle of UVH's tactile sensing is electrical characteristics of the conductive powder inside the gripper which changes its electrical resistance due to the change in the density of the powder by outer force. In this research, we revised the previous structure of UVH to improve its sensitivity by separating the conductive powder by the membrane and evaluate the effectiveness and performance of the sensor-integrated gripper that was developed.