多素子人工触覚の受容素子間隔の決定法

抄録

This paper describes an artificial tactile sense that not only takes the pressure information never crushing an object in the hand, but also discriminates one pattern from another on the surfaces being in touch therewith.
The stress distribution caused by the surface pattern of the object is transformed into the potential distribution by the receptor elements. Then, the surface pattern of object is identifiedd by sequentially processing the generated patterns corresponding to the distribution changes of threshold value. In this paper, the problems of the area of two-dimensional potential pattern for each threshold are discussed. The second fundamental differential form in differential geometry is defined by the relationship between the potential distribution and the threshold distribution corresponding to the tangent plane of the potential distribution. It is clarified that the form of the potential distribution is determined by calculating the second fundamental quantity.
The eigenvalue of the pattern of the stress distribution on the surface of the receptor elements. is derived from the Helmholtz equation. The element spacing of receptors is designed by using the relative error of the eigenvalue of the sampled pattern as the design parameter.