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Paper Abstract and Keywords
Presentation 2010-05-24 11:00
Confirmation of gripping status classification using an array of micro cantilever type tactile sensor
Wataru Mito (ATR/Kyoto Inst of Tech.), Tatsuya Mima (Osaka Univ.), Hirotake Yamazoe, Shunsuke Yoshida, Masahiro Tada (ATR), Sohgawa Masayuki, Takeshi Kanashima, Masanori Okuyama (Osaka Univ.), Haruo Noma (ATR)
Abstract (in Japanese) (See Japanese page) 
(in English) We have designed and fabricated a tactile sensors array with three inclined micro-cantilevers on a single sensor embedded in elastomer. Each sensor element can detect both normal and shear stresses. In this paper, we propose classification method of gripping status using sensor array and machine learning algorithm based on hidden marcov model. By integrating multiple sensor data using machine learning algorithm using hidden marcov model, our method allows to detect partial contact status such as non-contact, three types of partial contact, full-contact. Through experiments, we confirmed that our method achieves better classification ratio than existing methods using single sensor data.
Keyword (in Japanese) (See Japanese page) 
(in English) Tactile sensor / Sensor array / MEMS / Mchine learning / / / /  
Reference Info. ITE Tech. Rep., vol. 34, no. 18, ME2010-95, pp. 39-42, May 2010.
Paper # ME2010-95 
Date of Issue 2010-05-17 (ME, AIT) 
ISSN Print edition: ISSN 1342-6893
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Conference Information
Committee ME AIT  
Conference Date 2010-05-24 - 2010-05-24 
Place (in Japanese) (See Japanese page) 
Place (in English) National Institute of Information and Communications Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ME 
Conference Code 2010-05-ME-AIT 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Confirmation of gripping status classification using an array of micro cantilever type tactile sensor 
Sub Title (in English)  
Keyword(1) Tactile sensor  
Keyword(2) Sensor array  
Keyword(3) MEMS  
Keyword(4) Mchine learning  
1st Author's Name Wataru Mito  
1st Author's Affiliation ATR/Kyoto Institute of Technology (ATR/Kyoto Inst of Tech.)
2nd Author's Name Tatsuya Mima  
2nd Author's Affiliation Osaka University (Osaka Univ.)
3rd Author's Name Hirotake Yamazoe  
3rd Author's Affiliation ATR (ATR)
4th Author's Name Shunsuke Yoshida  
4th Author's Affiliation ATR (ATR)
5th Author's Name Masahiro Tada  
5th Author's Affiliation ATR (ATR)
6th Author's Name Sohgawa Masayuki  
6th Author's Affiliation Osaka University (Osaka Univ.)
7th Author's Name Takeshi Kanashima  
7th Author's Affiliation Osaka University (Osaka Univ.)
8th Author's Name Masanori Okuyama  
8th Author's Affiliation Osaka University (Osaka Univ.)
9th Author's Name Haruo Noma  
9th Author's Affiliation ATR (ATR)
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Speaker Author-1 
Date Time 2010-05-24 11:00:00 
Presentation Time 30 minutes 
Registration for ME 
Paper # ME2010-95, AIT2010-87 
Volume (vol) vol.34 
Number (no) no.18 
Page pp.39-42 
Date of Issue 2010-05-17 (ME, AIT) 

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