The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2023
Session ID : 1A1-G24
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Fabrication of Sensitivity-changeable Flexible Tactile Sensor with MR Fluid and EPMs
*Yunosuke NakayamaKoji Shibuya
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Abstract

In this report, we describe fabrication and results of its preliminary experiments of a sensitivity-changeable flexible tactile sensor with magnetorheological fluid (MR) and electro-permanent magnets (EPMs). Many soft robots take advantage of pneumatic actuators to change their morphology. However, the hole system with pneumatic actuator tends to be large because of a bulky pump for the air supply. In addition, their response time larger. Thus, we focus on MR fluid whose viscosity can be changed in a short response time. A peristaltic pump actuates the MR fluid circuit. When the EPMs are activated, MR fluid’s viscosity increases, which induce the tactile sensor’s morphological change. We conducted some preliminary experiments and confirmed that the fabricated system can be used for the sensitivity change of the tactile sensor.

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© 2023 The Japan Society of Mechanical Engineers
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