用导电丝制造全指触觉传感器，实现插入手工具后弯曲动作
Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion
- 用导电丝制作柔性神经皮肤，感知手指全段接触点
- 通过电阻变化检测接触位置，准确率达90%以上
- 适用于需要精细操作的机器人手部控制场景
本研究旨在构建一种可同时感知手指两侧接触点的系统，并实现将手指插入工具后进行弯曲的动作（称作插入后弯曲运动）。为获取包含关节在内的整根手指的接触点信息，提出采用导电丝作为神经线路，与柔性表皮结合制成含神经的柔性表皮，通过神经线路电阻变化来估计接触位置。将该柔性表皮安装在细长机械手指上，并与双臂机器人协同完成工具使用实验。实验结果表明，接触信息可用于实际工具操作，验证了所提方法的有效性。
原文摘要 · Abstract (English)
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after insertion motion). In order to know the contact points of the full finger including the joints, we propose to fabricate a nerve inclusion flexible epidermis by combining a flexible epidermis and a nerve line made of conductive filaments, and estimate the contact position from the change of resistance of the nerve line. A nerve inclusion flexible epidermis attached to a thin fingered robotic hand was combined with a twin-armed robot and tool use experiments were conducted. The contact information can be used for tool use, confirming the effectiveness of the proposed method.
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