Development of a Distributed Stretchable 3-axis Sensing System

分布式可拉伸三轴传感系统的开发

• 批准号: 21K14131
• 负责人: トモ ティト・プラドノ
• 金额: $ 2.91万
• 依托单位: Waseda University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Early-Career Scientists
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-04-01 至 2024-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21K14131/
• 关键词: stretchable; 3-axis; tactil; skin; sensor; soft; tactile sensor; 3-axis tactile sensor; Stretchable electronics; Robotics

In FY2022, we improved the performance of a stretchable 3-axis skin sensor by replacing the silver pastes and meander patterns used in the previous version with coiled copper wires.Our findings showed that this modification resulted in a significant increase in the maximum stretching ratio of the sensor from 150% to 250%. Furthermore, the resistance of the wires did not change significantly even after several hundred stretching cycles, allowing for stable I2C digital communication. However, we also observed that the coiled copper wires were prone to breakage after around 200 stretching cycles. Based on these findings, we identified the need to focus on improving the robustness of the sensor, which remains a significant challenge.These results were presented at the SI2022 Conference.

在2022财年，我们通过更换上一个带有盘绕铜线的银色糊状和曲折图案来提高3轴皮肤传感器的性能。传感器从150％到250％。此外，即使经过数百个拉伸循环，电线的电阻也没有发生显着变化，从而可以进行稳定的I2C数字通信。但是，我们还观察到盘绕的铜线很容易在200个拉伸周期后破裂。根据这些发现，我们确定有必要专注于提高传感器的鲁棒性，这仍然是一个重大挑战。这些结果已在SI2022会议上提出。

项目成果

SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction

• DOI: 10.1109/icra48506.2021.9561397
• 发表时间: 2021-05
• 期刊: 2021 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Gang Yan;A. Schmitz;Satoshi Funabashi;S. Somlor;Tito Pradhono Tomo;S. Sugano

Detection of Slip from Vision and Touch

通过视觉和触觉检测滑倒

• 发表时间: 2022
• 作者: Gang Yan;Alexander Schmitz; Tito Pradhono Tomo;Sophon Somlor;Satoshi Funabashi and Shigeki Sugano
• 通讯作者: Satoshi Funabashi and Shigeki Sugano

Participatory Design and Early Deployment of DarumaTO-3 Social Robot

DarumaTO-3 社交机器人的参与式设计和早期部署

• 发表时间: 2022
• 作者: Zhihao Shen;Nanaka Urano;Chih-Pu Chen;Shi Feng;Scean Mitchell;Masao Katagiri;Yegang Du;Franco Pariasca Trevejo;Tito P Tomo;Alexander Schmitz;Ryan Browne;Toshimi Ogawa;Yasuyuki Taki;Gabriele Trovato
• 通讯作者: Gabriele Trovato

伸縮性を有する3軸触覚センサuSkinの開発

开发可拉伸3轴触觉传感器uSkin

• 发表时间: 2022
• 作者: Gang Yan;Alexander Schmitz;Satoshi Funabashi;Sophon Somlor;Tito Pradhono Tomo;Shigeki Sugano;高瀬祥，T.P.TOMO，Somlor SOPHON，Alexander SCHMITZ，菅野重樹
• 通讯作者: 高瀬祥，T.P.TOMO，Somlor SOPHON，Alexander SCHMITZ，菅野重樹

A Robotic Grasping State Perception Framework with Multi-Phase Tactile Information and Ensemble Learning

具有多阶段触觉信息和集成学习的机器人抓取状态感知框架

• DOI: 10.1109/lra.2022.3151260
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Gang Yan;Alexander Schmitz;Satoshi Funabashi;Sophon Somlor;Tito Pradhono Tomo;Shigeki Sugano
• 通讯作者: Shigeki Sugano