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High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber - Relationship Between Shear Deformation of Conductive Rubber and Resistance Change -

Teshigawara, Seiichi ; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan ; Tadakuma, Kenjiro ; [et al.]

Fuji Technology Press Ltd. ; 2009

In: Journal of Robotics and Mechatronics Vol. 21, No. 2 ( 2009-04-20), p. 200-208

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In: Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 21, No. 2 ( 2009-04-20), p. 200-208

Abstract: Humans can grasp an object without information such as a coefficient of friction or weight. To implement this grasping motion with the robot hand, sensors have been proposed that detect an incipient slip within the contact surface or stick-slip. A large number of slip sensors have been proposed, but small, flexible, and practical slip sensors are currently not available yet. We have been involved in research and development activities for a center of pressure (CoP) tactile sensor that is small and flexible. This sensor uses a pressure conductive rubber to detect the central position of the load distribution and total load. As a result of using the sensor to make experiments on slip detection, we found that a peculiar change appeared in the load output of the sensor immediately before the slip displacement of an object occurred. Based on this output change, we proposed a control method that was capable of setting a grasping force in accordance with the weight of an object. However, the principle was not made clear that caused the output change to occur. We hypothesized that the change was caused by the characteristics of the pressure conductive rubber used for the material of the sensor. As a result of making verification experiments based on this hypothesis, we found that the output change was due to a change in the resistance value when the pressure conductive rubber shear deformed. It was also found that the scale of a change in the resistance value was dependent largely upon the shear deformation speed of the pressure conductive rubber. This paper describes the principle that a peculiar change occurs in the CoP sensor immediately before the occurrence of an object slip. It also reports the characteristics of the pressure conductive rubber that have newly been made apparent.

Type of Medium: Online Resource

ISSN: 1883-8049 , 0915-3942

URL: Article

DOI: 10.20965/jrm.2009.p0200

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2009

detail.hit.zdb_id: 2587053-1

detail.hit.zdb_id: 1021878-6

SSG: 31

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High Speed and High Sensitivity Slip Sensor for Dexterous Grasping

Fuji Technology Press Ltd. ; 2012

In: Journal of Robotics and Mechatronics Vol. 24, No. 2 ( 2012-04-20), p. 298-310

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In: Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 24, No. 2 ( 2012-04-20), p. 298-310

Abstract: Slip-detecting tactile sensors are essential if robot hands are ever to achieve the gripping motions of human hands. In our previous research, we developed a flexible, thin, and lightweight slip sensor that exploits resistance changes in pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and changes in normal force. Therefore, in this research, we investigate a method of identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we find that high-frequency components of several kilohertz or more are included in the complex voltage signal immediately before object slip. Therefore, using this high-frequency component, we develop a simple structure sensor that distinguishes between both contact and a state of immediately before slip with high sensitivity. Moreover, we design a slip sensor for a robot hand and examine the effects of noise by manipulation. Finally, we describe an experiment involving the adjustment of the gripping force of a robot hand.

Type of Medium: Online Resource

ISSN: 1883-8049 , 0915-3942

URL: Article

DOI: 10.20965/jrm.2012.p0298

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2012

detail.hit.zdb_id: 2587053-1

detail.hit.zdb_id: 1021878-6

SSG: 31

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Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator

Boksuwan, Sungwan ; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan ; Benjanarasuth, Taworn ; [et al.]

Fuji Technology Press Ltd. ; 2014

In: Journal of Robotics and Mechatronics Vol. 26, No. 3 ( 2014-06-20), p. 331-340

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In: Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 26, No. 3 ( 2014-06-20), p. 331-340

Abstract: 〈 div class=""abs_img"" 〉 〈 img src=""[disp_template_path]/JRM/abst-image/00260003/06.jpg"" width=""300"" / 〉 A handheld micromanipulator 〈 /span 〉 〈 /div 〉 This paper proposes a two-dimensional handheld micromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator. 〈 /span 〉

Type of Medium: Online Resource

ISSN: 1883-8049 , 0915-3942

URL: Article

DOI: 10.20965/jrm.2014.p0331

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2014

detail.hit.zdb_id: 2587053-1

detail.hit.zdb_id: 1021878-6

SSG: 31

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Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot

Pakkratoke, Montree ; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan ; Hirata, Shinnosuke ; [et al.]

Fuji Technology Press Ltd. ; 2012

In: Journal of Robotics and Mechatronics Vol. 24, No. 1 ( 2012-02-20), p. 123-132

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In: Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 24, No. 1 ( 2012-02-20), p. 123-132

Abstract: In order to investigate micro hardness and stiffness in a special chamber, the development of a small-force generator mechanism and a piezodriven microrobot is described in this paper. This small-force generator is simply composed of a Voice Coil Actuator (VCA) and the tandem leaf spring mechanism. The small force can be controlled by an electrical current, which is supplied to the coil and positioned precisely at the balance point with the parallel leaf spring with no mechanical friction. The full bridge strain gauges on both sides of the double leaf spring can detect a small force that is applied to the sample with a microindenter. This handmade small device can produce and verify small forces up to 17 mN with good linearity and a 50 µN resolution. The displacement of the indenter head can be also measured by the Linear Valuable Differential Transformer (LVDT) on the machine for monitoring the depth behavior of the indenter during the whole dwell time. The small force generator with the indenter can be implemented on the piezodriven microrobot to check the microscopic hardness and stiffness. This microrobot can move around the measurement area precisely step by step with 1 µm steps on a metal plate, so that the sample can be scanned with microscopic resolution in situ, such as in an SEM chamber. In the experiment results, the basic performance of microelasticity investigations with a certified hardness block was successfully checked and the indentation load-depth characteristics were precisely acquired on the path of the microrobot.

Type of Medium: Online Resource

ISSN: 1883-8049 , 0915-3942

URL: Article

DOI: 10.20965/jrm.2012.p0123

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2012

detail.hit.zdb_id: 2587053-1

detail.hit.zdb_id: 1021878-6

SSG: 31

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Switching Model Construction and Stability Analysis for Nonlinear Systems

Ohtake, Hiroshi ; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan ; Tanaka, Kazuo

Fuji Technology Press Ltd. ; 2006

In: Journal of Advanced Computational Intelligence and Intelligent Informatics Vol. 10, No. 1 ( 2006-01-20), p. 3-10

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In: Journal of Advanced Computational Intelligence and Intelligent Informatics, Fuji Technology Press Ltd., Vol. 10, No. 1 ( 2006-01-20), p. 3-10

Abstract: This paper presents switching model construction and stability analysis for a class of nonlinear systems. A switching fuzzy model newly developed in this paper is employed to represent the dynamics of a nonlinear system. A key feature of the switching fuzzy model construction is to find the so-called minimum distance sector by solving a nonlinear optimization problem. Next, we discuss the stability of a switching fuzzy model. To take advantage of the switching fuzzy model, we introduce a piecewise Lyapunov function that mirrors its structure. We show that the piecewise Lyapunov function approach provides less conservative results for the typical quadratic Lyapunov function approach. Illustrative examples demonstrate the utility of the switching model construction and the stability analysis.

Type of Medium: Online Resource

ISSN: 1883-8014 , 1343-0130

URL: Article

DOI: 10.20965/jaciii.2006.p0003

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2006

detail.hit.zdb_id: 2740249-6

detail.hit.zdb_id: 2708994-0

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The Development of the Plantar Pressure Sensor Shoes for Gait Analysis

Hirasawa, Masaki ; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan ; Okada, Hidetaka ; [et al.]

Fuji Technology Press Ltd. ; 2008

In: Journal of Robotics and Mechatronics Vol. 20, No. 2 ( 2008-04-20), p. 289-295

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In: Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., Vol. 20, No. 2 ( 2008-04-20), p. 289-295

Abstract: Humans are the only living things which make a erect bipedalism. We are evolving the lower extremity - below a pelvis, and gained the more complicated and more sophisticated gait pattern. In the area of the biomechanics or the rehabilitation, movement analysis instrument has been developed. However, almost of them are attended with the feeling of a constraint, or the measurement place will be limited. We tried to make sensor shoes which can survey operation of the leg without a feeling of a restraint as much as possible.

Type of Medium: Online Resource

ISSN: 1883-8049 , 0915-3942

URL: Article

DOI: 10.20965/jrm.2008.p0289

Language: English

Publisher: Fuji Technology Press Ltd.

Publication Date: 2008

detail.hit.zdb_id: 2587053-1

detail.hit.zdb_id: 1021878-6

SSG: 31

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