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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ1933-1938
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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