Analysis of static and dynamic characteristics of a tactile sensor using carbon micro coil inside an elastic material

Masato Homma, Masashi Konyo, Takashi Maeno, Seiji Motojima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Carbon Micro Coil (CMC) tactile sensor, containing CMCs in elastic material, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes in the sensor. In consequence, the sensor is 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 in which CMCs are in contact and not in contact. First, we analyzed static characteristics of CMC tactile sensor. 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 strain and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs. Secondly, we analyzed dynamic characteristics of CMC tactile sensor. We measured relationship between mechanical frequency and impedance by exciting vibration on CMC tactile sensor.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1933-1938
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Carbon micro coil
  • Dynamic characteristics
  • Electromechanical conversion characteristics
  • Static characteristics
  • Tactile sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Homma, M., Konyo, M., Maeno, T., & Motojima, S. (2006). Analysis of static and dynamic characteristics of a tactile sensor using carbon micro coil inside an elastic material. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1933-1938). [4058663] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282321