JRM Vol.18 No.3 pp. 235-241
doi: 10.20965/jrm.2006.p0235


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

November 2, 2005
April 14, 2006
June 20, 2006
Carbon Micro Coil, tactile sensor, electromechanical conversion characteristics, static characteristics

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.

Cite this article as:
Masato Homma, Hiroshi Morita, Takashi Maeno,
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.
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Last updated on Mar. 01, 2021