Pressure sensor display
It is a device that presents the surface roughness. The pin of
diameter 0.3mm is arranged in 8×8 arrays. The pins moves up and down
vertically and it stimulates a finger tip of operator. The type of 1mm pitch
(left) and 1.8mm pitch (right) are shown in the figure, respectively.
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The arm part to install pressure sensor
display
The arm part is developed for installation. The array scale and the
pin diameter of this display are 6×4 and 0.8mm
respectively. The pitch is 2mm.
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Hand presents pressure sensor and
clutches force.
Above tactile sensor is installed in hand. As a result, we can feel
hardness of the object and ruggedness shape on the
surface, etc.
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| Combination of
tactile and force sensor device 1
Hand presents pressure and clutches force mentioned above is installed
in three links manipulator. Using this device, various experiments such
as virtual peging are conducted.
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| Combination of
tactile and force sensor device ２ The above-mentioned 1mm
pitch structure display was installed in three link manipulator. The
experiment applying tactile and force sensor simultaneously is conducted
using this device.
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| Pressure and slip
sensor display mouse
This device presents simultaneous pressure sensor and slipping vibration
display. We able to produce virtual reality feeling for surface
structure of sand paper, grain, etc. |
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Robot arm
attached with optical three axis tactile sensor
Three axis tactile sensor (detail explanation at the research
introduction). This sensor can measure the distribution of the contact
pressure and the shearing force that acts on the sensing surface. The
photograph shows the appearance in which this sensor is calibrated with
the force sensor.
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Optical three axis tactile sensor to install at multi-finger hand
Above-mentioned tactile sensor will be refine to make it smaller size in
order to install at multi-finger hand. The finger quantity is added to
complete the multi-finger hand. Continuously, experiments of recognition
of the object structure, material and insertion work will be perform.
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Pressure load device to evaluate the optical three axis tactile sensor
at multi-finger hand This device apply load to
above-developed sensor to evaluate its performance and characteristic. |
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Slippage tactile
display
Subject moves the stick to below direction in order to present the
slip feeling of the subject. This method is use to investigate human's
tactile sensing. |
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2D-micro Actuator
Tiny link structure supported by two bimorph piezoelectric actuators
moves in 2D plane. It will be used for slippage tactile display.
(further information) |
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