柔軟指先センサ Heads: 平井 慎一 Contact: Muhammad Hisyam B Rosle Date: 2012 - Mailing address: 立命館大学ロボティクス学科 〒525-8577 滋賀県草津市野路東1-1-1 Supported by: 科学研究費補助金 (No.15H02230) 2015 - 2017 (平井 慎一) 触知覚センシングにおける軟組織のダイナミクス・トライボロジー Associated lab/group:

研究内容

本研究では，ホール素子と永久磁石を用いて，ロボットハンドの柔らかい指先に埋め込むことができる，小型の力覚センサを構築する．

担当

	名前	学年	学位
	Or Keung	東京大学ポストドクトラルフェロー	工学博士
	Damith Suresh Chathuranga	モラトゥワ大学	博士（工学）
	Muhammad Hisyam Bin Rosle	マレーシア・プルリス大学	博士（工学）
	中野　秀基	Graduated	工学修士
	野村　厚弥	Graduated	工学修士
	山田　幸翼	Graduated
	高嶋　拓	Graduated

研究発表

• Muhammad Hisyam Rosle, Zhongkui Wang, Md Nahin Islam Shiblee, Kumkum Ahmed, Hidemitsu Furukawa, and Shinichi Hirai, Soft Resistive Tactile Sensor based on CNT-PDMS-Gel to Estimate Contact Force, IEEE Sensors Letters, 10.1109/LSENS.2022.3151659, 2022
• Muhammad Hisyam Rosle, Ryo Kojima, Keung Or, Zhongkui Wang, and Shinichi Hirai, Soft Tactile Fingertip to Estimate Orientation and the Contact State of Thin Rectangular Objects, IEEE Robotics and Automation Letters, Vol.5, Issue 1, pp.159-166, 10.1109/LRA.2019.2950118, Jan., 2020
• Muhammad Hisyam Rosle, Zhongkui Wang, and Shinichi Hirai, Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects, Sensors, Vol.19, No.18, 10.3390/s19184056, Sept., 2019
• Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Magnetic and Mechanical Modelling of a Soft Three-Axis Force Sensor, IEEE Sensors Journal, Vol.16, Issue 13, pp.5298-5307, 10.1109/JSEN.2016.2550605, Apr., 2016

• Muhammad Hisyam Rosle, Koji Shiratsuchi, and Shinichi Hirai, Failure State Estimation Using Soft Tactile Fingertip in Insertion Tasks, 2020 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2020), pp.910-915, 10.1109/AIM43001.2020.9158971, online, July 6-10, 2020
• Muhammad Hisyam bin Rosle, Ryo Kojima, Zhongkui Wang and Shinichi Hirai, Soft Fingertip with Tactile Sensation for Detecting Grasping Orientation of Thin Object, 2018 IEEE Int. Conf. on Robotics and Biomimetics (IEEE ROBIO 2018), Kuala Lumpur Convention Centre, Kuala Lumpur, Malaysia, Dec. 12-15, 2018
• Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, A Soft Three Axis Force Sensor Useful for Robot Grippers, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.5556-5563, 10.1109/IROS.2016.7759817, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
• Damith Suresh Chathuranga, Zhongkui Wang, and Shinichi Hirai, An Anthropomorphic Tactile Sensor System with its Applications in Dexterous Manipulations, 5th Annual IEEE Int. Conf. on CYBER Technology in Automation, Control, and Intelligent Systems, pp.1085-1090, 10.1109/CYBER.2015.7288096, Shenyang Royal Wanxin Hotel, Shenyang, China, June 8-12, 2015
• Damith Suresh Chathuranga Katudampe Vithanage, Wang Zhongkui, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Disposable Soft 3 Axis Force Sensor for Biomedical Applications, The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 10.1109/EMBC.2015.7319642, MiCo - Milano Congressi, Milano, Italy, Aug. 25-29, 2015
• Damith Suresh Chathuranga Katudampe Vithanage, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Robust Real Time Material Classification Algorithm Using Soft Three Axis Tactile Sensor: Evaluation of the Algorithm, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2015), 10.1109/IROS.2015.7353655, Congress Center Hamburg (CCH), Hamburg, Germany, Sept. 28 - Oct. 2, 2015

• 福井 大地, 平井 慎一, 静電容量力覚センサにおける面積依存性の研究, 第36回日本ロボット学会学術講演会(RSJ2018), 愛知県春日井市・中部大学春日井キャンパス, Sept. 4-7, 2018
• 山田 寛大, 平井 慎一, 静電容量式力センサを有するロボットハンドによる把持, ロボティクス・メカトロニクス講演会2017, 郡山市・ビッグパレットふくしま, May 10-13, 2017
• Chathuranga Damith Suresh, 平井 慎一, ホール素子を用いた柔軟指内蔵力覚センサ, 第34回日本ロボット学会学術講演会(RSJ2016), 山形市・山形大学 小白川キャンパス, Sept. 7-9, 2016
• Damith Suresh Chathuranga and Shinichi Hirai, Soft 3D Tactile Sensor for Artificial Fingertips - Design, Fabrication and Testing of the Sensor -, Robotics and Mechatronics Conference 2015, Miyakomesse, Kyoto, Japan, May 17-19, 2015
• Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, A Bio-Mimetic Fingertip that can Detect Force and Vibration Modalities - Investigation of Bio-mimetic Fingertip's Ability to Discriminate Textures, Robotics and Mechatronics Conference 2013, Tsukuba International Congress Center, May 22-25, 2013

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