Heat Flow Measurement by A Force and Thermal Sensor Stick for Robots with A Nerve-Net LSI Chip

Assistant robots need a tactile sensing system. We propose a tactile sensor head with a nerve-net sensing system which measures force, temperature and heat flow with a heater simultaneously on a robot finger. For accurate heat flow measurements, it is necessary to stabilize the contact conditions between the sensor head and an object. A sensor stick which consists of the sensor head and an actuator was fabricated to control applied force. Heat flow measurements in three materials of different thermal conductivities such as polyethylene, glass and Aluminum were made with the sensor stick. As a result, three materials were discriminated clearly by heat flow peak values, saturations values and time constants. The tactile sensor stick with temperature measurement and force control is useful to discriminate materials of objects.