変形自在なジャミング転移センサ

―粉体の導電性評価―

抄録

The UVH is a gripper that combines the functions of a vacuum suction cup, a jamming gripper, and a sensing function. The UVH is a gripper that has several electrodes in the membrane and is filled with conductive powder to measure the electrical resistance between the electrodes, which enables us to grasp the contact between the gripper and the object being grasped.

In this study, we measure the electrical conductivity and bulk density of several kinds of conductive powders against the load using a powder volume resistivity measuring device, and measure the gripping force when the powder material is filled inside the gripper using a pressing test machine. Based on the above experiments, we aim to clarify the most suitable conductive powder for UVH.