MR流体とEPMsを使用した感度変更可能な柔軟触覚センサの製作

抄録

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.