Electromechanical Conversion Mechanism of a Tactile Sensor Using Carbon Micro Coil Inside an Elastic Material
Masato Homma*, Hiroshi Morita*, Takashi Maeno*,
Masashi Konyo**, and Seiji Motojima***
*School of Integrated Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
**Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai 980-8579, Japan
***Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Carbon Micro Coil (CMC) tactile sensor, containing CMCs in elastic component, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes. In consequence, the sensor is considered to be able to detect various kind of tactile information by measuring impedance. In this paper, we focused on LCR circuit formed by distribution of CMCs. By changing CMC weight percent, we made the sensors that CMCs are in contact and not in contact. When the sensor is under unloaded condition, we measured the relationship between frequency of alternating voltage and impedance. As the result, we found that electrical parameters change with CMC weight percent. When the sensor is under transformed condition, we measured relationship between thrust displacement and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs.
Masashi Konyo, and Seiji Motojima, “Electromechanical Conversion Mechanism of a Tactile Sensor Using Carbon Micro Coil Inside an Elastic Material,” J. Robot. Mechatron., Vol.18, No.3, pp. 235-241, 2006.
-  D. R. Howe, and M. R. Cutkosky, “Sensing Skin Acceleration for Slip and Texture,” Proc. IEEE International Conference on Robotics and Automation, pp. 145-150, 1989.
-  D. Yamada, T. Maeno, and Y. Yamada, “Artificial Finger Skin having Ridges and Distributed Tactile Sensors used Grasp Force Control,” Journal of Robotics and Mechatronics, Vol.14, No.2, pp. 140-146, 2002.
-  Y. Mukaibo, H. Shirado, M. Konyo, and T. Maeno, “Development of a Texture Sensor Emulating the Tissue Structure and Perceptual Mechanism of Human Fingers,” Proc. IEEE International Conference on Robotics and Automation, pp. 2576-2581, 2005
-  H. Shinoda, K. Matsumoto, and S. Ando, “Acoustic Resonant Tensor Cell for Tactile Sensing,” Proc. IEEE International Conference on Robotics and Automation, pp. 3087-3092, 1997.
-  M. Shimojo, A. Namiki, M. Ishikawa, R. Makino, and K. Mabuchi, “A Tactile Sensor Sheet Using Pressure Conductive Rubber With Electrical-Wires Stitched Method,” IEEE SENSORS JOURNAL, Vol.4, No.5, pp. 589-596, 2004.
-  S. Yamamoto, T. Suzuki, and O. Nakao, “Touch-mode Capacitive Pressure Sensor,” Fujikura engineering report, No.101, pp. 71-74, 2001.
-  M. Ohka, H. Kobayashi, and Y. Mitsuya, “Sensing Characteristics of an Optical Three-axis Tactile Sensor Mounted on a Multifingered Robotic Hand,” International Conference on Manufacturing, Machine Design and Tribology, 2005.
-  M. Tanaka, H. Hayashi, and J.-L. Leveque, “Development of a Haptic Sensor for Monitoring Skin Conditions,” Transactions of the Japan Society of Mechanical Engineers, Vol.69, No.685, pp. 157-164, 2003.
-  K. Kaneto, M. Tsuruta, and S. Motojima, “Electrical Transport of Carbon Micro Coils,” Transactions on Fundamentals and Materials, Vol.118-A, No.12, pp. 1425-1428, 1998.
-  C. Kuzuya, A. Ueda, and K. Kawabe, “Application of CMC to Tactile Sensor,” Materials Integration, Vol.17, No.8, pp. 9-16, 2004.
-  Y. Sano, and M. Shimojo, “Study on the design of electrodes for pressure sensor using pressure conductive rubber,” The Japanese journal of ergonomics, Vol.26, No.Suppl., pp. 108-109.
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.