Realization of Static Friction Sensing Mechanism by A Use of Artificial Skin

利用人造皮肤实现静摩擦传感机构

基本信息

批准号：
12450168
负责人：
YAMADA Yoji
金额：
$ 8.19万
依托单位：
Toyota Technological Institute
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12450168/
关键词：
tactile sensing static friction sensation mechano receptor PVDF film stress finger ridge strain incipient slip

项目摘要

The objective of the study was to realize static friction sensation mechanism by developing artificial skin with mechanical structure and a sensing function equivalent to those of human skin.To begin with, structural features of a human finger were imitated: Ridges were molded on a silicone rubber surface, and the shape was formed to have a macroscopic curvature. A pair of PVDF or strain gauge film sheets confronting each other were embedded in a ridge as artificial Meissner corpuscles. Artificial skin with the above futures was used to conduct the following studies.First, the amplitude characteristic of the PVDF circuit system was examined to have a combined first-order (stress-rate) and a third-order (stress-jerk) frequency characteristics with a breakpoint in between the two. Second, the differential PVDF circuit output originating in either one kind of two film sheets generated a low frequency signal wave form pattern indicating the sign of an incipient slip, which was followed by higher frequency slip sequence signals. The results cohered with a simulation result of dynamic behavior analysis for an incipient slip using FEM.Third, it was verified that such a characteristic sequence of signals did not appear when an object rolled on the skin surface. Moreover, we demonstrated the effectiveness of the incipient slip information through grasping force control of a two-fingered hand to hold an object regardless of the weight and the surface roughness.From the above results, we conclude that incipient slip detection with a differential output from a pair of artificial Meissner corpuscles fulfils a main role of the static friction sensing mechanism.

该研究的目的是通过开发具有机械结构的人造皮肤和相当于人类皮肤的感应功能来实现静态摩擦感觉机制。首先，模仿人手指的结构特征：在硅胶橡胶表面上模制脊，并形成形状以形成宏观弯曲。一对彼此面对的PVDF或应变量表胶片被嵌入山脊中，作为人造Meissner小体。使用上述期货的人造皮肤进行以下研究。首先，检查了PVDF电路系统的振幅特征，具有合并的一阶（应力速率）和三阶（应力 - jerk）频率特征，并在两者之间有断点。其次，源自两种胶片的差分PVDF电路输出产生了低频信号波形模式，表明了初期滑移的迹象，然后是高频滑移序列信号。该结果与使用FEM进行初期滑动的动态行为分析的模拟结果相干。三分之一，可以证实，当物体在皮肤表面上滚动时，这种特征的信号序列不会出现。此外，我们通过抓住两指手的手控制力的力量来证明了初期滑移信息的有效性，无论重量和表面粗糙度如何。