コーティング式触覚センサの開発

―電気インピーダンストモグラフィを用いた2次元センサのモデル化―

抄録

In this study, we develop a coated tactile sensor for robots. The accuracy of contact position estimation of this sensor depends on the accuracy of the equivalent circuit model. Therefore, in this paper, we develop a highly accurate model. The capacitance distribution of the piezoelectric film and the resistance distribution of the resistive film are necessary for modeling. The former is obtained by actual measurement, while the latter is estimated using electrical impedance tomography (EIT), a technique for estimating the conductivity distribution of object. In this paper, we discuss how to apply this EIT to our sensors from various perspectives. Then, we evaluated the model by comparing it with an actual sensor. As a result, it was found that reflecting the resistance distribution estimated by EIT and the capacitance distribution actually measured in the model had a certain contribution on creating a highly accurate model.