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伸縮性導電性布を用いたフレキシブルストレッチセンサの開発と応用 ―やわらかいロボットのためのやわらかいセンサの実現に向けて―
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Flexible Stretch Sensor Using Stretchable Conductive Cloth
1.
伸縮性導電性布を用いたフレキシブル ストレッチセンサの開発と応用 ―やわらかいロボットのためのやわらかいセンサの実現に向けて― 大阪大学基礎工学部 システム科学科 機械科学コース 西川研究室 丹羽
英人 1
2.
先行研究例 (静電容量式ストレッチセンサ) メリット • 大きな変形 • 高い柔軟性 •
温度変化に強い • 高耐久性(疲労蓄積が小) デメリット • 高価(5万円程度) • 静電容量計測の難しさ 2
3.
先行研究例 (足関節ロボット関連) ペダリングロボット 2足歩行ロボット ヒト(健常者/麻痺患者)の動作解析にこれらのロボットを使用 2次元平面上での動作しかできなかった 3
4.
目的 センサ本体/計測回路 製作 空気圧人工筋長さの計測 ストレッチセンサ ヒトの足関節自由度ロボット製作 空気圧人工筋制御 足関節ロボット 4
5.
ストレッチセンサ製作 センサ本体製作 自作計測回路 シリコン/導電性布を用いて製作 ・柔軟性 ・伸縮性 に富んでいる RC回路を用いて 時定数計測 自作基板 マイコンを用いて 遅れ時刻計測 5
6.
足関節ロボット製作 ヒトの1/2重量 同一重心位置 前脛骨筋/腓骨筋/ヒラメ筋 6 使用した足関節部分
7.
ストレッチセンサ 評価試験 1Hzで足関節を動作 前脛骨筋 腓骨筋/ヒラメ 筋 背屈 底屈 底屈 ※映像は0.5Hz動作、実際は1Hz動作にて計 測 si n逆 位 相 7
8.
結言 ヒトと同じ自由度の足関節ロボットの動作 • 前脛骨筋/腓骨筋/ヒラメ筋の3筋動作再現可能に • ヒトと同じ3自由度の足関節 •
膝関節/股関節も作成し、下肢ロボット化を予定 (16本の筋で動作予定) ストレッチセンサで筋の伸縮計測が可能に • 筋紡錘として筋の長さの計測ができるように • 反射動作などの再現ができるように • ストレッチセンサの単価を5千円程度に (従来品は5万円) • 耐ノイズ性、計測再現度向上の余地あり 8
Editor's Notes
50計測平均
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