コーティング式触覚センサの開発

―2次元センサモデルの精密化の検討―

抄録

The authors are developing a coated tactile sensor, ScoTacS, for robots. Firstly, we confirm the ability of the contact position estimation using prototyped two dimensional ScoTacS by measuring the delay time of the output signals experimentally. Secondly, we try to improve the accuracy of the equivalent model consiting of registance and capacitance of the ScoTacS by increasing the accuracy of approximation of the distriution of the electrical registance. We confirm the results of improvement with computer simulation using LTspice.