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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

ヒトの表面粗さ認識機構を模倣した触覚認識システム

http://hdl.handle.net/2237/9059
http://hdl.handle.net/2237/9059
0b8c07a6-f92f-4a83-8a57-5b37370d167b
名前 / ファイル ライセンス アクション
JsMecEngC_69-682-1719.pdf JsMecEngC_69-682-1719.pdf (639.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2007-11-30
タイトル
タイトル ヒトの表面粗さ認識機構を模倣した触覚認識システム
言語 ja
その他のタイトル
その他のタイトル A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Unevenness
言語 en
著者 大岡, 昌博

× 大岡, 昌博

WEKO 20508

ja 大岡, 昌博

Search repository
OHKA, Masahiro

× OHKA, Masahiro

WEKO 20509

en OHKA, Masahiro

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川村, 拓也

× 川村, 拓也

WEKO 20510

ja 川村, 拓也

Search repository
KAWAMURA, Takuya

× KAWAMURA, Takuya

WEKO 20511

en KAWAMURA, Takuya

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板橋, 達也

× 板橋, 達也

WEKO 20512

ja 板橋, 達也

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ITAHASHI, Tatsuya

× ITAHASHI, Tatsuya

WEKO 20513

en ITAHASHI, Tatsuya

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宮岡, 徹

× 宮岡, 徹

WEKO 20514

ja 宮岡, 徹

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MIYAOKA, Tetsu

× MIYAOKA, Tetsu

WEKO 20515

en MIYAOKA, Tetsu

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三矢, 保永

× 三矢, 保永

WEKO 20516

ja 三矢, 保永

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MITSUYA, Yasunaga

× MITSUYA, Yasunaga

WEKO 20517

en MITSUYA, Yasunaga

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 ja
権利情報 日本機械学会
権利
言語 ja
権利情報 本文データは学協会の許諾に基づきCiNiiから複製したものである。
キーワード
主題Scheme Other
主題 Robotics and Mechatronics
キーワード
主題Scheme Other
主題 Measurement
キーワード
主題Scheme Other
主題 Neural Network
キーワード
主題Scheme Other
主題 Tactile Sensor
キーワード
主題Scheme Other
主題 Psychophysics
キーワード
主題Scheme Other
主題 Step-Height Recognition
抄録
内容記述 A mathematical model was formulated on the basis of the results of psychophysical experiments in which human subjects discriminated fine steps on aluminum plates. The mathematical model emulated the real neuron discharge caused when a membrane potential exceeds a threshold. The membrane potential was determined by spatial and temporal summations of postsynaptic potential. To evaluate the mathematical model for surface texture recognition by robots, we performed a series of surface detection experiments using a robotic manipulator equipped with an optical three-axis tactile sensor. The single sensor cell of this sensor consisted of a columnar feeler and a 2-by-2 array of conical feelers. The three-axis force was calculated from the area-sum and area-difference of the conical feelers' contact areas. The robotic manipulator rubbed the tactile sensor on four brass plates with step-heights of 0, 0.05, 0.1 and 0.2 mm. It was found that the mathematical model could distinguish these step-heights.
言語 en
内容記述タイプ Abstract
出版者
言語 ja
出版者 日本機械学会
言語
言語 jpn
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
関連情報
関連タイプ isVersionOf
識別子タイプ URI
関連識別子 http://ci.nii.ac.jp/naid/110002379052/
ISSN
収録物識別子タイプ PISSN
収録物識別子 0387-5024
書誌情報 ja : 日本機械学會論文集 C編

巻 69, 号 682, p. 1719-1725, 発行日 2003-06
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/9059
識別子タイプ HDL
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