単一圧電振動型触覚センサによる滑り方向・初期滑りの検出とハンドグリッパへの応用(機械力学,計測,自動制御)

抄録

A tactile sensor is important for robotics and handling to measure applying forces and detect contact condition between grippers and objects. This paper presents the detection of sliding direction and incipient slipping with single piezoelectric vibration tactile sensors for hand-robotic-gripper. The piezoelectric vibration-type tactile sensors have a high sensitivity and a wide measurement range. The proposed tactile sensor is designed by embedding the piezoelectric vibration sensors in a Polydimethylsiloxane (PDMS) basis for stable responses. The basic experiment of sliding detection and application for hand-gripper are demonstrated by the proposed tactile sensor between an aluminum plate and a sensor surface covered by soft-material to detect the sliding direction and the incipient slipping.