著者

堀江 竜太 金子 真

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.21, no.8, pp.940-946, 2003-11-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

2 4

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This paper proposes a tactile sensor capable of automatically adjusting its sensitivity, depending upon the contact information. Suppose a strain gauge based sensor, such as multi-axis force sensor and tactile sensor. One big issue for those sensors is the signal saturation due to large input for a particular direction. The proposed sensor system can automatically avoid such a situation with combination of Automatic Gain Control (AGC) . The sensor is composed of a controller and an analyzer. The analyzer provides with the contact force and the controller tunes up the amplitude of each frequency. We discuss the basic design relue where two theorems are introduced for guaranteeing the working principle of the sensor with AGC. Experimental results are also shown for validating the basic idea of the proposed sensor.