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

Paper:

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

Received:
July 19, 2005
Accepted:
August 18, 2005
Published:
February 20, 2006
Keywords:
tactile sensor, strain gauge, automatic gain control
Abstract

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:
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Last updated on Feb. 25, 2021