触覚微分器(機械力学,計測,自動制御)

Tactile Differentiator

金子 真

佐嶋 俊彦

原田 研介

辻 敏夫

日本機械学會論文集. C編

Transactions of the Japan Society of Mechanical Engineers. C

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.

Tactile Differentiator

Whisker Sensor

Edge Detection

Tactile Sensor

機械工学 [ 530 ]

日本語

社団法人日本機械学会

Copyright (c) 2002 社団法人日本機械学会

[ISSN] 0387-5024

[NCID] AN00187463