JRM Vol.18 No.1 pp. 83-88
doi: 10.20965/jrm.2006.p0083


A Sensitivity Variable Tactile Sensor with Self-Tuner

Susumu Kouno

Hiroshima R&D Center, Mitsubishi Heavy Industries, ltd., 4-6-22 Kanon-shimmachi, Nishi-ku, Hiroshima 733-8553, Japan

July 19, 2005
August 18, 2005
February 20, 2006
tactile sensor, strain gauge, automatic gain control

We propose an approach for changing tactile sensor gain based on how much force is imparted to the sensor, so the sensor maintains a wide dynamic range. Assuming a strain-gauge-based tactile sensor, we propose a DC current approach with stability guaranteed. We provide two theorems – saturation condition giving gain leading to saturation, and stability condition giving gain leading to instability. We demonstrate experimental results and simulation results.

Cite this article as:
Susumu Kouno, “A Sensitivity Variable Tactile Sensor with Self-Tuner,” J. Robot. Mechatron., Vol.18, No.1, pp. 83-88, 2006.
Data files:
  1. [1] R. A. Russel, “Closing the sensor-computer-robot control loop,” Robot Age, pp. 15-20, Apr., 1984.
  2. [2] S. S. M. Wang, and P. M. Will, “Sensors for computer controlled mechanical assembly,” Ind. Robot, pp. 9-18, Mar., 1978.
  3. [3] S. Hirose et al., “Titan III, A quadruped walking vehicle,” Pro. 2nd Int. Symp. Robot Res., Cambridge, MA, 1985.
  4. [4] R. A. Brooks, “A robot that walks; Emergent behaviors from a carefully evolved network,” Neural Computat., Vol.1, pp. 253-262, 1989.
  5. [5] E. N. Schiebel, H. R. Busby, and K. J. Waldron, “Design of a mechanical proximitysensor,” Robotica, Vol.4, pp. 221-227, 1986.
  6. [6] N. Ueno, and M. Kaneko, “Dynamic Active Antenna – A Principle of Dynamic Sensing,” Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, Vol.2, pp. 1784-1790, 1994.
  7. [7] M. Nilson, “Tactile Sensors and Other Distributed Sensors with Minimal Wiring Complexity,” IEEE Trans. on Mechatronics, Vol.5, No.3, pp. 253-257, 2000.
  8. [8] I. J. Busch-Vishniac, “Spatially Distributed Transducers. Part II, Augmented Transmission Line Models,” Trans ASME, Vol.112, pp. 381-390, 1990.
  9. [9] Y. Yamada, K. Shin, N. Tsuchida, and M. Komai, “A Tactile Sensor System for Universal joint Sections of Manipulator,” IEEE Trans. of Robotics and Automation, Vol.9, pp. 512-517, 1993.
  10. [10] Y. Yu, M. Ohsaki, and S. Tsujio, “Wiring Reduction of Tactile Sensor by Using Fast Fourier Transform,” Proc. of the 16th Annual Conference of the Robotics Society of Japan, Vol.1, pp. 157-158, 1999.
  11. [11] M. Kaneko, Y. Bessho, and T. Tsuji, “Tracing Type Artificial Active Antenna,” Journal of the Robotics Society of Japan, Vol.18-8, pp. 1173-1179, 2000.
  12. [12] R. Horie, and M. Kaneko, “A Sensitivity Variable Tactile Sensor with Self-Tuner,” Journal of the Robotics Society of Japan, Vol.21-8, pp. 940-946, 2003.
  13. [13] M. Ito, “Automatic control,” Maruzen, Inc, 1981.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Feb. 25, 2021