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Paper Abstract and Keywords
Presentation 2005-03-18 16:45
Measurement of the deformation of flexible object for a soft actuator
Kazuhiko Kogawa, Yoshihiro Hagihara, Yukari Hagihara, Hirotugu Kasai, Akira Hashimoto, Shigeyuki Shimachi, Yoshihide Hakozaki (Iwate Univ.)
Abstract (in Japanese) (See Japanese page) 
(in English) : It is necessary to make a soft actuator have multiple sensor like human hand. So, we have to measure the value of the pressure depending on the flexible object and the deformation of the flexible one. And we have to recognize the situation that an object is rolling or sliding on a flexible object’s surface. For this purpose, we must measure large deformation of the actuator when high pressure is applied along with the minute deformation. This research realizes a multiple touch sense by measuring the 3-dimensional distortion of the surface and the inside of the soft actuator using image processing. Arraying some opaque points that are observed within the soft-actuator of transparent resin, and measuring the 3-dimensional amount of displacement of the observed points make it possible to measure displacement of the soft actuator. Furthermore, we verify the validity of this technique in finite element method analysis. From the obtained physical-property's value, it is shown that it can ask for the displacement of a flexible thing and the relation of stress analytically.
Keyword (in Japanese) (See Japanese page) 
(in English) Soft Actuator / Three Dimension Deformation / Multiple Feeling / Finite Element Method / / / /  
Reference Info. IEICE Tech. Rep., vol. 104, no. 742, PRMU2004-268, pp. 215-220, March 2005.
Paper # PRMU2004-268 
Date of Issue 2005-03-11 (TL, PRMU) 
ISSN Print edition: ISSN 0913-5685
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Conference Information
Committee PRMU TL  
Conference Date 2005-03-17 - 2005-03-18 
Place (in Japanese) (See Japanese page) 
Place (in English)  
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Paper Information
Registration To PRMU 
Conference Code 2005-03-PRMU-TL 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Measurement of the deformation of flexible object for a soft actuator 
Sub Title (in English)  
Keyword(1) Soft Actuator  
Keyword(2) Three Dimension Deformation  
Keyword(3) Multiple Feeling  
Keyword(4) Finite Element Method  
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1st Author's Name Kazuhiko Kogawa  
1st Author's Affiliation Iwate University (Iwate Univ.)
2nd Author's Name Yoshihiro Hagihara  
2nd Author's Affiliation Iwate University (Iwate Univ.)
3rd Author's Name Yukari Hagihara  
3rd Author's Affiliation Iwate University (Iwate Univ.)
4th Author's Name Hirotugu Kasai  
4th Author's Affiliation Iwate University (Iwate Univ.)
5th Author's Name Akira Hashimoto  
5th Author's Affiliation Iwate University (Iwate Univ.)
6th Author's Name Shigeyuki Shimachi  
6th Author's Affiliation Iwate University (Iwate Univ.)
7th Author's Name Yoshihide Hakozaki  
7th Author's Affiliation Iwate University (Iwate Univ.)
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Speaker Author-1 
Date Time 2005-03-18 16:45:00 
Presentation Time 30 minutes 
Registration for PRMU 
Paper # TL2004-100, PRMU2004-268 
Volume (vol) vol.104 
Number (no) no.740(TL), no.742(PRMU) 
Page pp.215-220 
#Pages
Date of Issue 2005-03-11 (TL, PRMU) 


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