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  1. A500 情報学部/情報学研究科・情報文化学部・情報科学研究科
  2. A500a 雑誌掲載論文
  3. 学術雑誌

A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness

http://hdl.handle.net/2237/9063
http://hdl.handle.net/2237/9063
72747783-bbf4-4191-94e9-f2f512647402
名前 / ファイル ライセンス アクション
JSME_C48-2-278.pdf JSME_C48-2-278.pdf (803.2 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2007-12-03
タイトル
タイトル A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness
言語 en
著者 OHKA, Masahiro

× OHKA, Masahiro

WEKO 20546

en OHKA, Masahiro

Search repository
KAWAMURA, Takuya

× KAWAMURA, Takuya

WEKO 20547

en KAWAMURA, Takuya

Search repository
ITAHASHI, Tatsuya

× ITAHASHI, Tatsuya

WEKO 20548

en ITAHASHI, Tatsuya

Search repository
TAKAYANAGI, Jyun-ichi

× TAKAYANAGI, Jyun-ichi

WEKO 20549

en TAKAYANAGI, Jyun-ichi

Search repository
MIYAOKA, Tetsu

× MIYAOKA, Tetsu

WEKO 20550

en MIYAOKA, Tetsu

Search repository
MITSUYA, Yasunaga

× MITSUYA, Yasunaga

WEKO 20551

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 results from 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. This 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 colonical 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. Results showed that the mathematical model could distinguish these step heights in real time.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 The Japan Society of Mechanical Engineers
言語
言語 eng
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/110004820892/
ISSN
収録物識別子タイプ PISSN
収録物識別子 1344-7653
書誌情報 en : JSME International Journal Series C

巻 48, 号 2, p. 278-285, 発行日 2005-06
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/9063
識別子タイプ HDL
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