柔軟触覚センサの開発と応用

ロボットと人・環境との豊かな身体接触を実現するための 柔軟触覚センサ の研究。磁性エラストマとインダクタを組み合わせた多軸力覚センサ、液体金属を用いた流路型ソフトセンサ、表面変形を計測する光反射式センサなど、変形可能な材料と新規な変換原理を組み合わせた触覚センシング技術の開発と、ロボットへの応用を進めています。

関連論文：

• Seiichi Yamamoto, Hiroki Ishizuka, Takumi Kawasetsu, Koh Hosoda, Takayuki Kameoka, Kango Yanagida, Takato Horii, Yusuke Sakaue, Sei Ikeda, Osamu Oshiro. “External Photoreflective Tactile Sensing Based on Surface Deformation Measurement”. IEEE Sensors Journal, Early Access, 2026.
• Yuki Hashimoto, Hiroki Ishizuka, Takumi Kawasetsu, Takato Horii, Sei Ikeda, Osamu Oshiro. “Selective Voltage Application to Connected Loads Using Soft Matter Computer Based on Conductive Droplet Interval Design”. IEEE Robotics and Automation Letters, 8(3), 1747-1754, March 2023.
• Shota Hamaguchi, Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Ryuma Niiyama, Koh Hosoda, Minoru Asada. “Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal”. IEEE Robotics and Automation Letters, 5(3), 4028-4034, April 2020.
• Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Minoru Asada. “Flexible Tri-Axis Tactile Sensor Using Spiral Inductor and Magnetorheological Elastomer”. IEEE Sensors Journal, 18(14), 5834-5841, June 2018.