触覚微分器(機械力学,計測,自動制御)

日本機械学會論文集. C編 Volume 68 Issue 666 Page 447-453 published_at 2002-02-25
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Title ( jpn )
触覚微分器(機械力学,計測,自動制御)
Title ( eng )
Tactile Differentiator
Creator
Kaneko Makoto
Sajima Toshihiko
Harada Kensuke
Source Title
日本機械学會論文集. C編
Transactions of the Japan Society of Mechanical Engineers. C
Volume 68
Issue 666
Start Page 447
End Page 453
Abstract
This paper proposes the Tactile Differentiator that can enhance the edge of polygonal surface through tracing motion. It is composed of a flexible beam anchored at the base with a moment sensor, and an actuator for moving the whole system. When the beam tip passes over the edge where two different planes are intersected with an arbitrary angle, the Tactile Differentiator provides a step change of output, as if it were just like a differentiator. The edge enhancement factor of sensor is introduced with the shape of beam, the intersection angle of environment, and the contact friction. By using the factor, the design orientation of the sensor is discussed. Experimental results are also shown to verify the basic idea.
Keywords
Tactile Differentiator
Whisker Sensor
Edge Detection
Tactile Sensor
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
社団法人日本機械学会
Date of Issued 2002-02-25
Rights
Copyright (c) 2002 社団法人日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024
[NCID] AN00187463