In the recent industrial machinery, the coexistence of man and machine is a very important problem. However, its problm has not sufficiently been clarified. The solution of this problem was attempted in making the intelligent interface to be the key concepts in this study.

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The special characteristics of ship handling decided by ship's maneuverability, natural environment and marine traffic environment. In order to develop the system to substitute human operator, human function in conventional system should be clarified to realize the necessary functions. The function in intelligent system should be evaluated relating to necessary functions based on the characteristics of maneuverability and natural and traffic environment. In this paper, the characteristics of ship handling, operator's function and modern developed intelligent system for ship handling are discussed.

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This paper considers the technical review and the recent topics in the man-machine interface and the pilot modeling for Aeronautical Engineering. The pilot modeling for aircraft operation has been widely investigated to analyze and increase flying quality of aircrafts. Those models include linear and nonlinear, parametric and non-parametric mathematical forms. Resent researches try to utilize the mathematical pilot model for an intelligent man-machine interface which adds adaptive characteristics to a stability augmentation controller.

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We numerically investigated contact characteristics of a contact pad with rough disk surface and possibility of a contact/near-contact slider, using a single-DOF slider and random wavy surface model with random roughness. From the contact analysis, it was found that contact stiffness and other characteristics are determined by asperity contact until the contact pad penetrates into the upper standard deviation of asperity peak height and that the contact stiffness tends to approach a constant value as the pad penetrates into average asperity height because the macroscopic deformation becomes predominant. Using the above contact characteristics, we simulated the behavior of a single-DOF slider and showed design conditions of disk waviness which can satisfy the tracking ability and wear durability in terms of wear volume and wear depth. Finally, we investigated the effect of meniscus force on the contact characteristics and the slider vibration.

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This paper describes optimum air-bearing design of a tri-pad slider in terms of tracking ability to micro-waviness based on the theoretical analysis for the two-degree-of slider model and the distributed and concentrated air-bearing stiffness model. Although a short tri-pad type slider was introduced since load/unload, we point out that the this type of slider is superior to the traditional rail type slider in terms of tracking ability to micro-waviness. More importantly, the distance between head-gap position and the rear air-bearing center should be made as small as possible. The spacing variation due to the lower mode resonance can be eliminated if the positions of front and rear air-bearing centers are located at the center of percussion. The resonance amplitude of the higher order mode in spacing variation can be reduced if the length of the rear air-bearing pad is made be 1.2∿1.3 times the wave length of the higher mode resonance frequency. Since the moment stiffness of the front air-bearing prevents the head-gap from tracking the micro-waviness, the front air-bearing length should be made short.

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Using the molecular dynamics method has simulated three-dimensional molecule distribution and meniscus formation on surfaces having two-dimensional sinusoidal roughness. Argon molecules were selected both for liquid/gas molecules moving at a constant temperature of 84K or 99K and stationary solid molecules for solid surfaces. It is observed that molecules are apt to pile up around valley portion and molecule arrangement becomes weaker on the rough surface. The radius of curvature of meniscus cross section are found to vary with the interaction of solid surface molecules and liquid molecules indicating verification of the present simulation.

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Direct visualization method for molecularly thin lubricant films on magnetic disks is presented. Visualization of a molecularly thin film is an extremely useful technique for the investigation of replenishment and retention of thin lubricant films. Ellipsometry can provide thickness and refractive index of a molecularly thin film. However, conventional ellipsometry requires the laser spot to be scanned in order to image a lubricant film, since it can provide information of only one point of a sample surface. In this report, direct visualization method based on ellipsometry is presented. In our elllipsometric microscope, ellipsometric information of a sample surface is converted into dark-bright contrast and is directly visualized with a chilled CCD camera. By the combination of optical and digital image processing techniques, weak contrast are enhanced and interference noise caused by laser coherence are reduced. Thus, our method can provide direct visualization of 1-nm order thick thin lubricant film.

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We designed the new method to measure tribological properties of molecularly thin lubricant film used for head disk interface of hard disk drive system. It is highly required to make more detailed investigation into tribological properties of lubes especially for high speed relative movement with nano-scale surface separation that is most similar state of real head disk interface. Using ball-end optical fiber as a probe we can measure shear force between the probe and the sample moving relatively at high frequency and controlled nano-scale surface separation confining polymer lubricant. We showed 10nN force resolution is possible with our new method.

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Self-assembled monolayers (SAMs) of 1H, 1H, 2H, 2H-perfluorodecyltriethoxysiland were deposited on the magnetic hard disk surface by immersion. SAM formation was confirmed by contact angle measurement ellipsometry, and x-ray photoelectron spectroscopy. Friction of unlubricated, SAM coated and perfluoropolyether (PFPE) Zdol coated disk surfaces was measured with lateral force microscopy, spin-stand tester and scratch tester. The SAM coated disk surfaces had lower friction as compared to the unlubricated disk surfaces. This result is in agreement with the hydrophobic nature of the SAM coated surface. On the other hand, friction of the SAM coated surface was larger than the 2-nm-thick PFPE-coated surface, even though the hydrophobicity of the SAM-coated surface was higher than that of the PFPE-coated surface. This would be attributed to the mobility of the multilayered PFPE lubricant, whereas the friction of SAM coated surface showed comparable or even better compared to that of 1.1-nm-thick PFPE-coated surface that had a small mobile portion.

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Spring constants and damping coefficients of menisci were obtained from the dynamic force analysis between solid surfaces linked by a liquid meniscus bridge assuming small vibration of the spacing. As analytical models, the infinite width meniscus, the finite meniscus ring between planes and the finite meniscus ring between a sphere and a plane were considered. It was found that the surface tension of the liquid affects the spring constants and the viscosity of the liquid affects the damping coefficients. The spring constants and the damping coefficients were applied to a mechanical system and the characteristics of vibration transfer through a meniscus bridge were investigated. The effects of the surface tension and the viscosity of the liquid on the amplitude ratio and the phase shift were clarified.

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For examining molecular gas film lubrication (MGL) characteristics in several nanometers, free molecular MGL equation, which employs Poiseuille flow rate and shear stress coefficient for free molecular flow region, is established considering surface accommodation effects and calculated the characteristics of plane inclined slider and step slider with accommodation coefficients of disk and slider, α_0 and α_1,as parameters. As the minimum spacing decreases, pressures and shear stresses by the use of conventional MGL equation and the free molecular MGL equation become close each other, which means free molecular MGL equation is applicable for the nanometer region. Moreover, differences among any flow rates in Poiseuille flows become diminished, as the minimum spacings decreases and bearing number increases.

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In this paper the cubic interpolated propagation (CIP) method, which is an effective numerical scheme for differential equations including an advection term and the perturbation method, are employed in the dynamic analyses of the ultra-thin gas film lubrication using the molecular gas-film lubrication (MGL) equation. Pressure qenerations and the 2-DOF slider dynamics for the spacing of several tens of nanometers caused by a waving disk are investigated, and it is found that i) the CIP method is effective in the analyses of the near contact MGL dynamics, and ii) the infinite bearing number approximation is useful for the dynamic analysis of ultra thin spacings.

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This paper describes the effects of ultra-thin liquid lubricant film on air bearing dynamics and flyability of nano-spacing flying head sliders in hard disk drives. The dynamics of slider is monitored using Acoustic Emission (AE) and Laser Doppler Vibrometer (LDV). The disks with lubricant on one half of disk surface thicker than the other half as well as with uniform thickness lubricant are used to investigate the interactions between slider and lubricant film experimentally. As a result, it is found that the flying height at which the contact between slider and lubricant film occurs depends on the lubricant film thickness and it increases as the lubricant film thickness increases. Its flying height is also in good agreement with the estimated results based on the theory of capillary waves. Further, we can find out that its flying height also depends on the mobile lubricant film thickness and it increases as the mobile lubricant thickness increases under the condition that the lubricant film thicknesses are the same. Regard to an air bearing instability due to the interactions between slider and lubricant film, it also depends on the mobile lubricant film thickness as well as the total lubricant film thickness and intensifies as the mobile lubricant thickness decreases. Furthermore, the effects of non-uniform lubricant film distribution on head-disk interface dynamics are studied. It is found that the periodic lubricant re-distribution caused by slider-lubricant interactions can be observed.

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This paper describes the development of novel PZT thin films for active sliders in hard disk drives. The feature is that sol-get PZT thin films are deposited on sputtered PZT thin films fabricated on Pt/Ti bottom electrode. These double-layered composite PZT thin films are found to have the higher (111) preferred orientation as well as better P-E hysteresis loop characteristics than not only sol-get PZT thin films but also sputtered PZT thin films. The piezoelectric strain constant d_<31> for the novel PZT thin films is also investigated and identified to be 189×(10)^<-12>m/V. This value is 2.0 times higher than that for conventional PZT thin films and it is found that the novel PZT thin films have good piezoelectric properties. Furthermore, micro-machining process for the proposed active slider is studied and developed. There are, however, some issues caused by the 100μm deep-etching process by ICP-RIE in the developed fabrication process. Therefore, it is necessary to investigate the process issues in detail and improve the fabrication process in the future.

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This paper describes the micro robots system that are euipped with unique micro tools for precise operations. The main body is composed of the piezo elements and the electromagnets for providing the accurate inch worm locomotion. On this locomotion platform, several tools such micro drill, vibration stylus, micro pippete are implemented to achieve the specified precise applications. And some of these micro robots are improved to work in the vaccum chamber of the scanning electron microscope for nano level manipulation. These results show the typical performances and the potential benefits for the low cost micro production system.

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This paper describes the design of active head sliders for flying height control using micromachined thin-film PZT. Because of the low power of the actuator, it is necessary to minimize the aerodynamic reaction force and the change of the flying attitude when the head is lowered. In order to meet these requirements, air bearing surface (ABS) geometry with 5 pads has been designed and the driving voltage has been calculated, using the MGL theory for flying height analysis and FEM model for piezoelectric analysis. The head/disk distance of 5 nm is achieved by applying 2.2 V to the slider flying at 20 nm height, with little change of the flying attitude. Furthermore, ABS geometry which generates the negative pressure around the head has been designed. This reduces the driving voltage necessary for the head/disk distance of 5nm to 1.7V.

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This paper proposes a novel micro actuator mechanism that moves to not only lateral but also vertical directions independently for ultra-high density data storage devices. This mechanism consists of high aspect-ratio parallel ribs and flat plate structure. These mechanisms are PZT thin film-driven unimorph lateral and vertical actuator mechanisms, respectively. The design procedure is studied and the optimum design is established. Micro-machining process for the novel micro-actuator mechanism is also investigated. The sidewalls of the ribs should have very small surface roughness since PZT thin film should be deposited on those surfaces. Therefore, our improved Si deep etching process based on ICP-RIE is developed and this suggests the feasibility of fabricating the proposed micro-actuator mechanism.

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FAB (Fast Atom Beam) manufacturing is able to make a high-aspect-ratio structure. The manufacturing precision of line-and-space does not significantly decrease in the case of FAB manufacturing, when the distance between the mask and the substrate is of a limited length. In the present paper, a new method to make a line-and-space on the substrate by the use of FAB is first proposed. In this method, the mask with line-and-space is put on the substrate with slope. In the process of changing the slope of the mask, it is possible to change the line-and-space on the substrate. Next, the manufacturing process of the mask to make a nano-meter-order line-and-space on the substrate by the use to the FAB etching is proposed. Moreover, the mask is manufactured by the use of FAB and its performance during manufacturing is discussed.

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In this study, a method to detect wear of cutting tools of lathe for precision parts of watch was analyzed. Theoretical analysis of cutting tool's vibration was made using dummy tools, so that it was demonstrated that stick-slip vibration occurred and level of first resonance frequency increased remarkebly when a cutting tool wore. From this result, a trial manufacture of a small device to detect wear of cutting tools was made. The electric power consumption of this device is very low and the sensor of this device is piezoelectric membrane that has high sensitivity for vibration.

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This paper proposes an approach to optimal design of cam curves. In the approach, cam curve is described with a uniform B-spline curve and then the values of B-spline control points are optimized with the Complex Method according to the utilization purpose. The algorithm is simple and the programming is easy since it only needs to compute the performance value but require no the gradient of the index function in optimization calculation. Some examples of designing cam curve to control the residual vibration with indexing cam mechanism are shown. The outcomes sufficiently illustrate the effectiveness of the approach.

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We have been developing exoskeletal robots for motion support of elderly persons and handicapped persons. In our previous research, 2DOF exoskeletal robots for shoulder motion support and then control method have been proposed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose an intelligent interface, which realizes the fuzzy-neuro-controller adjustment in accordance with the human subject fs arm posture, in order to effectively control the 2DOF exoskeletal robot for shoulder motion support. The interface is realize by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot was evoluated by experiment.

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We developed a soccer robot system based on RoboCup F-180 League in order to research issues about cooperative behavior of mobile robots and multi-agent system which offers efficient, flexible, and fault-tolerant task accomplishment. The system consists of commodity hardware robots, remote-brain servers, a communication server, and a vision server. Agent robots are made of LEGO (R) Mind Storms RCX, which is programmable microcomputer embedded LEGO brick with infrared communication. Servers are Linux PCs connected each other with TCP/IP. Vision server is equipped with frame-grabber connected to a CCD camera above field and process captured images to determine positions of objects on playing field. Communication server with infrared transmitter/receiver provides collision-less communication for remote-brains and robots.

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This paper deals with a voice navigation system for a multiagent mobile robot system. The robots which made by LEGO Mindstorms RIS play soccer with our another LEGO robot team which participates in the small-size RoboCup. The system consists of these five robots, a communication server, an image processing server and a client PC. The protocol of the communication with the servers and the client PC is TCP/IP and with the communication server and the robots is LNP via infrard transmitter/receiver. The voice recognition engine Julius developed in Kyoto University is installed, the database on the oral commands to the robots are constructed and some program modules are designed to control the robots in the PC.

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A new type of a folding electric wheelchair is proposed. It can be moved on a flat floor with the omni-directional motion and it is easily transportable because of the light framework body and the equipment of a simple drive mechanism two sets of the powered wheel steering and drive unit are mounted on the front and the rear positions of the chassis like a skate board. This paper deals with the prototype of the wheelchair developed for design of the motion control system and determination of the specifications on the new type one.

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Todya "videophone" and "videoconference via internet" have been used as important tools for communications via network. However viewing line of a sender who sends his or her facial image to another person will not meet with a receiver's viewing line due to the constraint of the camera's position. We can communicate effectively without feeling mental stress if eye contact is established. This work presents experimental results for permissible viewing angle deviations for "eye contact" and verified the influence of the resolution of images. It was clarified that we are able to percept subtle movements of iris, i.e., 0.96mm on display or 3 pixels, it corresponds to the receiver's viewing angle of 0.055 degrees.

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A lot of people express an impact sound by the same onomatopeia. In order to solve the relationship between an impact sound and the corresponding onomatopeia, sounds were made on the basis of word informations of onomatopoeia. We performed the auditory sensory tests by using the prepared sounds. Furthermore, the actual impact sounds and the vocalized sounds were analyzed by using a one-third-octave analyzer. By comparing the sensory test results with actual impact sounds, we clarified that the frequency of the sound to hear as an onomatopeia is close to the frequency of the actual impact sound. And we suggested that the number of waves of the sound to hear as an onomatopoeia is less than the number of waves of the actual impact sound and the vocalized sound.

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Decoration materials for interior house are bonded by use of the induction heating technique. In this construction method, we discussed the bond-identification-technique. The radiated sound from a decoration panel when impacting is analyzed. As a result of analysis of the sound, autocorrelation function, principal component analysis and neural networks provide advantageous information for bond-identification.

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A calculation system has been developed to predict the noise of some products that use electric motors. This noise prediction system is composed of two main calculation systems; one, which contains both the equivalent electrical circuit of a motor and the finite-element model of the motor structure, obtains the motor excitation force and the other obtains the vibration response of an elastic thin plate excited by the motor and estimates the noise radiated from the thin plate. We demonstrate that the calculated vibration response and noise of the thin plate agree well with measured values.

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In order to cause a tactile sensor to be thin shape, a new optical tactile sensor is developed by applying CT (Computed Tomography) algorithm. The present tactile sensor is comprised of infrared emitting diode array, the receiving phototransistor array and transparent silicon rubber plate. Infrared rays emitted from the diode array are directed into an end of the plate and their intensity distribution is measured by the phototransistor array mounted on the other end. If CT algorithm is directly applied to the tactile sensor, there are two defects such as shape of sensing area limited to a circle and long calculation time. Thus, a new CT algorithm oriented to tactile sensing is proposed to overcome these defects. In the present algorithm, a square sensing area is divided to an n-by-n array and algebraic equations are derived from relationship input and output light intensities on assumed light projections. Several reconstruction methods are considerable to obtain pressure values caused in the squares. In the present study, ART (Algebraic Reconstruction Technique) and LU decomposition methods were employed and these methods were compared to select the best reconstruction method In a series of simulations, it was found that the ART method is suitable for reconstruction method in the optical tactile sensor.

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A page-turning machine using the rubber with slide sensor is designed and developed. The turning over is discriminated from the slide by setting a threshold value of the sensor output. The setting of the threshold is examined and its effectiveness is presented. When a threshold is set as 0.8V, 93% of rates of distinction of turning over is obtained. This method can be used for a book of different quality paper, though the threshold value should be reset.

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This paper describes the fundamental experiments for localization of a sound source using differences of microphones' output levels. A sensor tower is composed of four condenser microphones locating at vertices of a tetrapod. The tower can detect only the direction of the sound source, however two towers with a certain separation can localize the sound source. We made an experimental set and collected sound data for verifying the sound localization. The results show that the directional and positional errors of a sound source with the frequency 1[kHz] are less than 0.22[rad], 1.2[m] at the distances 3[m], 5[m], and 7[m], respectively.

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Development of the information and communication technology is remarkable. The portable or wearable information terminals will upgrade more, and remote sensor devices will work in information network for various services. The micro, portable energy sources with more energy and power density than batteries are necessary there. Then, new micro power sources, such as portable fuel cell, vibration-driven power generators, shoe power generators, wireless power supply methods are developed by using micro-machine/MEMS technology.

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The automatic electric power generator which utilized mechanical vibration has been investigated in order to supply the information devices with electric power. First, the theoretical analysis was carried out in order to obtain the design parameters under constraints such as the setting space and the source of vibration. Next, the experimental model was made on the basis of the analysis result, and the generated power was measured. As a result of measurement experiments, it was validated that the practical electric power generation was obtained by the experimental model.

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This paper treats a portable generator that contains a coil and a permanent magnet attached to a spring. Performance of the generator is estimated from power spectral density of acceleration on a walking human body. Experimental results show frequency of vibration produced at trunk is 1.85 Hz, while vibration at upper arm and shank is 0.9 Hz. Maximum power is obtained when the natural frequency of the spring-mass system is coincided with frequency of the vibration. it is found that maximum power generated by a generator at trunk, at upper arm and at shank reach 26.6mW, 13.1mW and 131.6mW, respectively.

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This paper describes μ-PEFCs (polymer electrolyte fuel cells) based on MEMS (micro-electromechanical system) fabrication technology. The μ-PEFC has advantages such as batch fabrication, miniaturization, simple assembly and integration with various MEMS components. We propose two kinds of novel structures, "Alternating structure" and "Co-planar structure", which are different from a conventional bipolar structure. The alternating structure has a series of single cells formed in one plane, and the polarization of each single cell is alternately reversed. This structure realizes easy cell interconnection on micromachined substrates without additional wiring. The co-planar structure has a comb-shaped anode and cathode formed on a single substrate, and a thick PEM (polymer electrolyte membrane) formed on the electrodes. This structure has advantages such as simple assembly and independent controllability of membrane humidity from the upper side. We completed a μ-PEFC with the alternating structure. This μ-PEFC has a size of 20×27 mm, and consists of 9 cells with a size of 0.5×15 mm connected in series. In fabrication, some problems including short of the electrodes and pealing of the PEM from the electrodes occurred. Under this incomplete cell condition, the μ-PEFC generated a cell potential of about 0.12 V, when connected to a 10 MΩ resistor, however, the output power was extremely low.

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The recent voltage regulators in mobile apparatus have been required to be small size, thin thickness and low power dissipation. We have developed new DC-DC convertors which includes a micro inductor using CoFeSiB/SiO2 multi-layer film. This paper describes the electronic characteristics of the magnetic thin film core with magneto wire and evaluates the operating characteristics of a DC-DC convertor using micro inductors. High inductances and down sizing of the inductors are compatible when the three dimensional winding helical coil and the multi-layer film are used. The micro inductors show high inductances of 14〜15 μH and high quality factors of 10〜20 at a frequency of 1 MHz. The DC-DC convertor modules which have some components such as an inductor, capacitors and a power IC of a switching frequency of 1 MHz have achieved a high efficiency of about 90% at an input and an output voltage of 4V and 1.5V, respectively.

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This paper describes design and characteristics of maximum power point tracking method (MPPT) for a new mobile charging system powered by a single solar cell. To reduce the power consumption of the system, we investigated variation of the MPPT algorithm. We applied a modified Constant Voltage method (CV) instead of Perturb and Observe method (P&O). Generated power using these methods is three times larger than that of non-MPPT system. Moreover, the power consumption of the CV method has decreased 20% compared to the P&O method.

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In this study, we report the development of a microcapacitance pressure sensor for measuring dynamic contact stress of the tibio-femoral joint. In order to verify the accuracy of the sensor, dynamic contact pressure was measured for an in-vitro cow joint with intact ligaments at the flexion angle from 0 degree to 90 degree

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The purposes of this study is the development of fine fiber and ribbon sensor/actuator material elements by using the originally designed rapid solidification apparatus, and the controlling microstructures of these for application as new multi-functional materials. The functional characteristics of thermoelastic, ferromagnetic shape memory alloys and magnetoelastic alloys were improved very much, which might originate from the textures having stronger crystal anisotropy and low energy grain boundaries. These sensor/actuator material elements become useful to develop intelligent/smart material systems.

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This paper describes a reduction method of integral error of body acceleration to estimate three-dimensional walking distance. The walking distance is derived by the integration of the three-dimensional body acceleration which is sensed by a sensor system attached on the foot. The sensor system is composed of an three-dimensional accelerometer, three gyros, and one geomagnetic sensor. Integral errors of the acceleration and the angular velocity are modified by considering the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. One subject performed level walk, ascending and descending to verify the proposed method. The experimental results show that the application of the proposed method reduces the integral error of the acceleration and suggests the ability of non-restrictive estimation of three-dimensional walking distance.

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This paper investigates emotion recognition from brain waves measured by using a (Cyberlink)^<(TM)> which acquires and processes biological potentials from his/her forehead. Based on an emotional dimension theory in psychology, 2D-emotional plane that includes "pleasure-unpleasure" axis and "arousing-sleepy" axis is introduced As a first step of emotion recognition, relationship between the arousal level and EEG is discussed and a classification method of the arousal level is presented. The averaged EEG power of α and β wave bands constructs a pattern vector and an artificial neural network is utilized as a classifier. Using the collected EEG data from Japanese male subjects, the classifier is trained by using SOM and LVQ and tested. The obtained rate of the arousal-relax classification is 90% and the classification rate of arousal level is 60%.

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Electrical bio-potentials produced by eye movements and facial muscle movements present serious problems for electroencephalographic (EEG) data interpretation and analysis. many methods have been proposed to remove artifacts from EEG recordings, especially those arising from eye movements and blinks. The EEG data set used in the analysis was collected from 3 electrodes placed on the user's forehead scalp with (Cyberlink)^<TM>. The EEG data set contained 10 subband channels and was recorded and analyzed continuously to get the artifacts-free EEG signals. We propose general applicable method for removing EOG and EMG artifacts from EEG based on independent component analysis. ICA can effectively detect, separate, and remove contamination from a wide variety of artifactual sources in EEG signals with (Cyberlink)^<TM> in online.

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This paper is a study on the optimum design of a palpation sensor for the diagnosis of prostate abnormalities. The palpation sensor is configured as a polyvinylidene fluoride (PVDF) film placed on a sponge rubber base. Thus, the stiffness of the sponge rubber base of the sensor is of great importance for the best discrimination of normality and abnormality. First, the elastic characteristics of real organ tissues, both normal and abnormal, are investigated. Then, FEM analysis is introduced fro the optimal design of sensor and the best fit stiffness of the sponge rubber base is determined. Also verified by the FEM analysis is the effect of a convex atop of the sensor on the enhancement of sensor output. Finally, verification test on the sensor performance is performed and good agreement between the analysis and experimental results is confirmed.

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This paper is a study on the development of a sensor for measuring tactile sensation. First, the specific feelings on six sample underwear are collected though the semantic differential method. Next, The base of the sensor is an aluminum can, around which a rubber sponge layer, PVDF (Polyvinylidene Fluoride) film, a protective layer of acetate film and gauze are stacked in sequence. The sensor is set on rotation axis of the motor and covered with the measuring object. It is then turned to collect the tactile information of the same fabrics. The features on the collected data are then extracted by calculating the variance and the intensity of power spectrum density on medium frequency range of output signal. Comparison of the results shows that the PVDF sensor well describes the tactile perception of human.

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