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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

An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

http://hdl.handle.net/2237/10282
http://hdl.handle.net/2237/10282
3ac67837-5f9e-443f-9e9d-d82cb0eaa050
名前 / ファイル ライセンス アクション
Ohka_Masahiro_An_Experimental_Optical_Three-axis_tactile_Sensor_2005.pdf Ohka_Masahiro_An_Experimental_Optical_Three-axis_tactile_Sensor_2005.pdf (190.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-07-24
タイトル
タイトル An Experimental Optical Three-axis Tactile Sensor for Micro-Robots
言語 en
著者 Ohka, Masahiro

× Ohka, Masahiro

WEKO 23948

en Ohka, Masahiro

Search repository
Mitsuya, Yasunaga

× Mitsuya, Yasunaga

WEKO 23949

en Mitsuya, Yasunaga

Search repository
Higashioka, Isamu

× Higashioka, Isamu

WEKO 23950

en Higashioka, Isamu

Search repository
Kabeshita, Hisanori

× Kabeshita, Hisanori

WEKO 23951

en Kabeshita, Hisanori

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 en
権利情報 Cambridge University Press
キーワード
主題Scheme Other
主題 Tactile sensor
キーワード
主題Scheme Other
主題 Optical measurement
キーワード
主題Scheme Other
主題 Three-axis
キーワード
主題Scheme Other
主題 MEMS
キーワード
主題Scheme Other
主題 Micro-robot
抄録
内容記述 This paper describes a micro-optical three-axis tactile sensor capable of sensing not only normal force, but also shearing force. The normal force was detected from the integrated gray-scale values of bright pixels emitted from the contact area of conical feelers. The conical feelers were formed on a rubber sheet surface that maintains contact with an optical waveguide plate. The shearing force was detected from horizontal displacement of the conical feeler. In the experiments, a precise multi-axial loading machine was developed to measure sensing characteristics of the present sensor. Results show that the normal force was specified uniquely under combined force conditions and that the shearing force was specified by modifying the relationship between the shearing force and the horizontal displacement on the basis of normal force. We formulated a set of expressions to derive the normal force and the shearing force by taking into account this modification. Furthermore, calibration coefficients were identified for transforming the integration of gray-scale values into the normal force and for transforming the horizontal displacement into the shearing force. This result suggests that the expressions can estimate the normal force and the shearing force in wide-load regions.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 Cambridge University Press
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
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1017/S0263574704001535
ISSN
収録物識別子タイプ PISSN
収録物識別子 0263-5747
書誌情報 en : Robotica

巻 23, 号 4, p. 457-465, 発行日 2005-07
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/10282
識別子タイプ HDL
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