感度変更可能な柔軟触覚センサの開発

―内部チャンバー構造がセンサ出力に与える影響―

抄録

This study aims at fabrication of a soft active tactile sensor with three chambers including strain gauges, which can change its sensitivity by changing air pressure inside the chambers. In this report, we fabricated two types of tactile sensor. In the one model, the three chambers were connected, and in the other, they are independent from each other. We used a stereolithographic 3D printer to fabricate the sensor’s base structure with three chambers inside the body. We investigated how the difference between the two structures would affect the strain gauge outputs. In our experiments, we varied the gauge pressure and slide an indenter on the surface of the tactile sensors. From the experimental results, we confirmed that connecting the chambers increases the sensitivity but generates extra output, and that the sensitivity changes depending on the value of the air pressure inside the chambers.