Conductive Fabric Sensor Heads: Takahiro Matsuno Contact: Ishihara Mana Date: 2018 - Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Grant-in-Aid for Scientific Research on Innovation Areas (Science of Soft Robots) JP19H05337 Mechanics and Synthesis of Soft Contact Associated lab/group:

Project Description

We will study proxomity sensing using conductive fabric. We will develop a fabric sensor that can be wrapped around an inflatable arm and establish a sensing algorithm robust against parasitic capacitance.

2021/3/11	Denpa Shimbun Daily article introduced Dr. Matsuno's research on proximity sensing algorithm.

Personnel

	Name	Title	Degree
	Takahiro Matsuno	Kindai University	Ph.D
	Zheng Yufeng	Graduated	Master of Eng.
	Ishihara Mana	Graduated	Master of Eng.
	Kenji Nakamura	Graduated	Master of Eng.
	Daichi Fukui	Graduated	Master of Eng.
	Fujimoto Tatsuya	Graduated
	Miyamoto Mao	Graduated
	Chou Yung-yi	Graduated

Publications

• Takahiro Matsuno, Zhongkui Wang, Kaspar Althoefer, and Shinichi Hirai, Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin, IEEE Robotics and Automation Letters, Vol.4, Issue 2, pp.2212-2219, 10.1109/LRA.2019.2901991, Apr., 2019

• Takahiro Matsuno, Rikuya Miyagoshi, Keita Shimizu, Mana Ishihara, Shuya Watanabe, Jun Shintake, Kaspar Althoefer, and Shinichi Hirai, Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor, 2022 IEEE Int. Conf. on Soft Robotics (RoboSoft 2022), 10.1109/RoboSoft54090.2022.9762078, University of Edinburgh (online), United Kingdoms, Apr. 4-8, 2022
• Mana Ishihara, Takahiro Matsuno, Kaspar Althoefer, and Shinichi Hirai, Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor, IEEE/SICE Int. Symp. on System Integration 2021 (SII2021), pp.87-92, 10.1109/IEEECONF49454.2021.9382706, online, Jan. 11-14, 2021
• Takahiro Matsuno, Zhongkui Wang, Kaspar Althoefer, Shinichi Hirai, Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin, 2019 IEEE Int. Conf. on Robotics and Automation (ICRA 2019), pp.2212-2219, 10.1109/LRA.2019.2901991, Palais des congrès de Montréal, Montréal, Canada, May 20-24, 2019

• Mana Ishihara, Takahiro Matsuno, Kaspar Althoefer, and Shinichi Hirai, Integration of a Conductive Fabric Based Proximity Sensor into Variable Stiffness Link with Two Axes and Two Links, 2021 IEEE Int. Conf. on Soft Robotics (RoboSoft 2021), online, Apr. 12-16, 2021
• Shinichi Hirai, Fabric/Fiber Tactile Sensors, ICRA 2018 Workshop: Active touch for perception and interaction: How nature inspires robotics, Brisbane Convention & Exhibition Centre, Australia, May 25, 2018

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