A Sensitivity Variable Tactile Sensor with Self-Tuner

Susumu Kouno

doi:10.20965/jrm.2006.p0083

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JRM Vol.18 No.1 pp. 83-88

doi: 10.20965/jrm.2006.p0083

(2006)

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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:

S. Kouno, “A Sensitivity Variable Tactile Sensor with Self-Tuner,” J. Robot. Mechatron., Vol.18 No.1, pp. 83-88, 2006.

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References

[1] R. A. Russel, “Closing the sensor-computer-robot control loop,” Robot Age, pp. 15-20, Apr., 1984.
[2] S. S. M. Wang, and P. M. Will, “Sensors for computer controlled mechanical assembly,” Ind. Robot, pp. 9-18, Mar., 1978.
[3] S. Hirose et al., “Titan III, A quadruped walking vehicle,” Pro. 2nd Int. Symp. Robot Res., Cambridge, MA, 1985.
[4] R. A. Brooks, “A robot that walks; Emergent behaviors from a carefully evolved network,” Neural Computat., Vol.1, pp. 253-262, 1989.
[5] E. N. Schiebel, H. R. Busby, and K. J. Waldron, “Design of a mechanical proximitysensor,” Robotica, Vol.4, pp. 221-227, 1986.
[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] 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] I. J. Busch-Vishniac, “Spatially Distributed Transducers. Part II, Augmented Transmission Line Models,” Trans ASME, Vol.112, pp. 381-390, 1990.
[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] 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] 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] 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] M. Ito, “Automatic control,” Maruzen, Inc, 1981.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[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.