ジャミング転移センサに基づくソフトロボットハンド

―混合粉体を用いた電磁誘導式ジャミング転移センサの提案と開発―

抄録

In recent years, there has been a great deal of interest in the development of jamming grippers, which are robotic hands that use a powder and a membrane. Compared with other robot hands, the jamming gripper has an advantage of simple structure and does not require complicated control for grasping. However, due to its simple structure, the hand itself does not have a sensor function and cannot feed back the tactile information to the robot. In this study, we propose a sensor method that does not impair the gripping performance of the gripper by detecting the movement of powder with an electromagnetic induction type sensor, and verify the operation.