圧電振動子を用いた共振周波数変化に基づく小型力覚センサの試作

抄録

Effective massage requires specialized knowledge and experience, and the number of massage therapists who possess these skills is limited. To solve this problem, massage robots with multi-fingered hands have been developed. Since this robot directly touches the human body, it is important to measure the force applied to the fingertips. However, there are few practical force sensors that are small enough to be attached to the fingertips of the robot hands and can withstand large loads such as massage movements. In this paper, we propose a vibration-type force sensor that is easily miniaturized and can withstand large loads such as massage, and discuss the prototype sensor and its evaluation results.