A Sensitivity Variable Tactile Sensor with Self-Tuner
Hiroshima R&D Center, Mitsubishi Heavy Industries, ltd., 4-6-22 Kanon-shimmachi, Nishi-ku, Hiroshima 733-8553, Japan
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.
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