複雑系科学が拓く触覚センシング(触覚とロボット,2007年度 第2回フォーラム)

抄録

The stochastic resonance (SR, hereafter) is one of the basic principles intrinsically possessed by any living thing to highly adapt for the complicated environment including various disturbances. It was found that Hodgkin-Huxley model capable of emulating living neuron activity shows the SR. A system of two differential equations dominating Hodgkin-Huxley model is similar to a differential equation system for Belousov-Zhabotinsky (B-Z, hereafter) reaction, which is one of phenomena caused by complex science systems. Although a noise is mixed inevitably by contact with an object and sensor's movement on it in tactile sensing, a human being can evaluate the several micrometers unevenness on the object surface by means of the SR. If the SR mechanism is incorporated into a tactile sensing system, the system can measure an object surface with high precision in not only the controlled environment adjusted like a precision measurement room but a living environment. In our laboratory, we intend to apply remarks obtained from complex science systems such as SR and B-Z reaction to robotic systems such as a tactile sensing system and a tactile display. Some recent topics of our results are described in the presentation of IIP 2008.