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History of Robotics Research and Development of Japan1997SensingTensor Cell Tactile Sensor Utilizing Multimode Acoustic Resonance

Natsuki TERADAThe University of Tokyo
Hiroyuki SHINODAThe University of Tokyo
Shigeru ANDOThe University of Tokyo
A stress/strain sensing method using small cavities in an elastic tactile sensor body is proposed. In the cavity, air acoustic resonances with Q~100 are induced at several frequencies. When the tactile sensor touches an object, the multidimensional internal strain state is evaluated by the shifts of the multiple acoustic resonant frequencies. The method enables to sense the deformation of the elastic tactile sensor surface without any rigid parts inserted near the sensor surface. The paper formulates the relationship between the frequency shifts and the internal stress/strain, and presents an efficient device manufacturing method showing experimental results of sensing contact style and force direction with a single and multiple cavities. SICE Awards for Outstanding Paper in 1998.
図　センシングの原理図
図　センシングの原理図
Principal of Sensing
 
写真　触覚素子の写真
写真　触覚素子の写真
Photo Tactile Sensor Device
   

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Correspondence papers

N. Terada, H. Shinoda, and S. Ando：Tensor Cell Tactile Sensor Utilizing Multimode Acoustic Resonance

Transactions of SICE, Vol. 33, No. 4, pp. 234-240, 1997 (in Japanese).
（Link：https://www.jstage.jst.go.jp/article/sicetr1965/33/4/33_4_234/_pdf）

Related papers

[1] H. Shinoda, K. Matsumoto and S. Ando: Acoustic Resonant Tensor Cell for Tactile Sensing, Proc. 1997 IEEE Int. Conf. on Robotics & Automation, pp. 3087-3092, 1997.

[2] 松本賢一, 杉本裕喜, 中島孝, 箱崎光弘, 篠田裕之：音響共鳴型テンソルセルによる触覚エレメント, 日本機械学会 ROBOMEC '97 講演論文集, Vol. B, pp.765-768, 1997.

[3] M. Hakozaki, H. Oasa and H. Shinoda: Telemetric Robot Skin, Proc. 1999 IEEE Int. Conf. on Robotics and Automation,　pp. 957-961, 1999.

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