撫で検知布製タッチパネルの開発とぬいぐるみロボットへの応用

抄録

In recent years, plush robot therapy has been developed and put into practical use. However, these robots have a problem in that actuators and sensors are built-in, compromising the softness of the plush. Therefore, this paper proposes a tactile sensor for soft plush robots. We created a fabric touch panel and an algorithm that can distinguish human stroking motions. By using a capacitive-type fabric touch panel, it is possible to detect where a person has touched the fabric. The algorithm distinguishes stroking motions using frequency analysis. We installed the created fabric touch panel on a plush robot wearing a powered garment and operated the plush robot according to the stroking direction.