432 research outputs found
複数の静電容量型柔軟触覚デバイスを用いた三軸力センサの開発
早大学位記番号:新7325早稲田大
Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor
This research was partially supported by the JSPS Grant-in-Aid for Scientific Research (S) No. 25220005, JSPS Grant-in-Aid for Young Scientists (B) No. 15K21443, NEDO project No. 15657422, Research Institute for Science and Engineering of Waseda University, the Program for Leading Graduate Schools, “Graduate Program for Embodiment Informatics” of the Ministry of Education, Culture, Sports, Science and Technology, and Project LIMOMAN [PIEF-GA-2013-628315]
Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications
This article introduces a soft and stretchable sensor composed of silicone rubber integrating a conductive liquidfilled
channel with a biocompatible sodium chloride (NaCl) solution and novel stretchable gold sputtered
electrodes to facilitate the biocompatibility of the sensor. By stretching the sensor, the cross section of the channel
deforms, thus leading to a change in electrical resistance. The functionalities of the sensor have been validated
experimentally: changes in electrical resistance are measured as a function of the applied strain. The experimentally
measured values match theoretical predictions, showing relatively low hysteresis. A preliminary assessment
on the proposed sensor prototype shows good results with a maximum tested strain of 64%. The design
optimization of the saline solution, the electrodes, and the algebraic approximations derived for integrating the
sensors in a flexible manipulator for surgery has been discussed. The contribution of this article is the introduction
of the biocompatible and stretchable gold sputtered electrodes integrated with the NaCl-filled channel rubber as a
fully biocompatible solution for measuring deformations in soft and stretchable medical instruments
Advances in Human-Robot Interaction
Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers
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