Development of Optical Distance, Normal Force, Shear Force Sensor

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2023/09/01タイトル(英語): Development of Optical Distance, Normal Force, Shear Force Sensor著者名: Tomoaki Baba (Keio University), Toshiyuki Murakami (Keio University), Hermano Igo Krebs (Massachusetts Institute of Technology), Takahiro Nozaki (Keio University)著者名(英語): Tomoaki Baba (Keio University), Toshiyuki Murakami (Keio University), Hermano Igo Krebs (Massachusetts Institute of Technology), Takahiro Nozaki (Keio University)キーワード: proximity sensor，tactile sensor，beam structure，photo reflector，contact task要約(英語): Proximity and tactile sensors have been widely used to control robots. However, each of these sensors has its own shortcomings. Visual sensors have blind spots, whereas tactile sensors cannot acquire information when non-contact. To overcome these problems, this study develops an optical sensor that can measure the distance and two-axis forces using a beam structure and photo reflectors. The sensor is inexpensive owing to its simple structure. Moreover, the sensor is demonstrated to have sufficient accuracy for both the distance and force measurements at 0.2, 0.5, and 1.0Hz. Additionally, the usefulness of the sensor is confirmed based on reduced impact control at the time of contact and force control.本誌: IEEJ Journal of Industry Applications Vol.12 No.5 （2023）本誌掲載ページ: 894-900 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/5/12_22004598/_article/-char/ja/ Show more