| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a tactile sensor which has a simple configuration using a single or small number of single function ultrasonic probes and can measure the surface state of an object as information close to the tactile sensation of a human.SOLUTION: There is provided a tactile sensor 10 which includes a contact surface 2 formed on one end with an ultrasonic permeable material (a transmission body 1) interposed therebetween and brought into contact with a surface Ma of an object M, and a plurality of ultrasonic probes 3a, 3b mounted on the positions on the other end facing the contact surface 2. Frequencies of an ultrasonic wave on a low frequency side and a high frequency side emitted to the object M and regions of the ultrasonic wave of a narrow region and a wide region are set, the tactile sensor 10 is moved while being brought into contact with the surface Ma of the object M to irradiate the contact surface 2 with each ultrasonic wave, a reflection wave A of the low frequency and wide region, a reflection wave B of the high frequency and narrow region, and a reflection wave C in which the reflection waves A and B are overlapped with each other are measured with respect to the reflection waves from the surface Ma of the object M, roughness and waviness of the surface Ma of the object M are estimated, and the tactile sensation is evaluated on the basis of the estimation.</p> |
