2022/01/25 更新

写真a

ソムロア ソフォン
ソムロア ソフォン
所属
理工学術院 理工学術院総合研究所
職名
次席研究員(研究院講師)

兼担

  • 理工学術院   大学院創造理工学研究科

学歴

  • 2012年09月
    -
    2016年09月

    早稲田大学   総合機械工学科   知能機械学  

  • 2009年08月
    -
    2011年08月

    Asian Institute of Technology   Industrial Systems Engineering   Mechatronics  

  • 2004年05月
    -
    2008年03月

    King Mongkut's University of Technology Thonburi   Production and Mechatronics Engineering   Mechatronics  

学位

  • Waseda University   Doctor of Engineering

経歴

  • 2017年04月
    -
    継続中

    早稲田大学   理工学院総合研究所   次席研究員

  • 2016年10月
    -
    2017年03月

    早稲田大学   大学院創造理工学研究科   研究助手

所属学協会

  •  
     
     

    IEEE Membership

 

研究分野

  • 知能ロボティクス   Tactile sensors

研究キーワード

  • Humanoid robots

  • Sensing

  • Tactile sensor

論文

  • A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub.

    Array,Massimo Regoli, Array,Array,Array,Array,Array,Array,Array

    IEEE Robotics and Automation Letters   3 ( 3 ) 2584 - 2591  2018年  [査読有り]

    DOI

  • Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands.

    Tito Pradhono Tomo, Alexander Schmitz,Wai Keat Wong, Harris Kristanto, Sophon Somlor, Jinsun Hwang, Lorenzo Jamone, Shigeki Sugano

    IEEE Robotics and Automation Letters   3 ( 1 ) 124 - 131  2018年  [査読有り]

    DOI

  • Development of a capacitive-type 6-axis force-torque sensor

    S. Somlor, A. Schmitz, H. Jinsun, T. P. Tomo, S. Sugano

    Proceedings of IEEE Sensors   2017-   1 - 3  2017年12月

     概要を見る

    Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments
    to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.

    DOI

  • Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor

    Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Lorenzo Jamone, Weijie Huang, Harris Kristanto, Shigeki Sugano

    SENSORS   16 ( 4 ) 491  2016年04月  [査読有り]

     概要を見る

    This paper presents an easy means to produce a 3-axis Hall effect-based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

    DOI

  • SNR Modeling and Material Dependency Test of a Low-cost and Simple to Fabricate 3D Force Sensor for Soft Robotics

    Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Sophon Somlor, Jinsun Hwang, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     428 - 433  2016年

     概要を見る

    This paper presents a low cost, easy to produce, small tactile sensor system, that can be embedded in a soft material and limited space. In the current implementation, we use a Hall-effect sensor and a magnet to measure the force. One sensor module can measure 3D force vector and temperature. This chip is planted inside a 55 x 55 x 8 mm of the silicon layer. The module has I2C digital output, requiring only four wires for each module. The experiment shows that the signal to noise ratio (SNR) for this module is relatively high, 21.4658 dB when 20g load is applied. The experiment also indicates that the sensor module measured loads differently depending on the type of material that is in contact.

    DOI

  • SNR Modeling and Material Dependency Test of a Low-cost and Simple to Fabricate 3D Force Sensor for Soft Robotics

    Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Sophon Somlor, Jinsun Hwang, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     428 - 433  2016年  [査読有り]

     概要を見る

    This paper presents a low cost, easy to produce, small tactile sensor system, that can be embedded in a soft material and limited space. In the current implementation, we use a Hall-effect sensor and a magnet to measure the force. One sensor module can measure 3D force vector and temperature. This chip is planted inside a 55 x 55 x 8 mm of the silicon layer. The module has I2C digital output, requiring only four wires for each module. The experiment shows that the signal to noise ratio (SNR) for this module is relatively high, 21.4658 dB when 20g load is applied. The experiment also indicates that the sensor module measured loads differently depending on the type of material that is in contact.

    DOI

  • Design Optimisation and Performance Evaluation of a Toroidal Magnetorheological Hydraulic Piston Head

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Somlor Sophon, Alexander Schmitz, Shigeki Sugano

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   2016-November   350 - 355  2016年  [査読有り]

     概要を見る

    The advantages of mechanical compliance have driven the development of devices using new smart materials. A new kind of magnetorheological piston based on a toroidal array of magnetorheological valves, has been previously tested to prove its feasibility. However, being an initial prototype its potential was still limited by its complex design, and low output force. This study presents the revisions done to the design with several improvements targeting key performance parameters. An improved annular piston design is also introduced as comparison with conventional devices. The toroidal and annular piston head prototypes are built and tested, and their force performance compared with the previous iteration. The experimental results show an overall performance improvement of the toroidal assembly. However, the force model used in the study still fails to accurately predict the magnetic flux at the gaps of the piston head. This deviation is later verify and corrected using a FEM analysis. The force performance of the new toroidal assembly is on par with the commonplace annular design. It also displays a more linear behaviour, at the expense of lower energy efficiency. Finally, it also shows potential for a greater degree of customisation to meet different system requirements.

    DOI

  • A Modular, Distributed, Soft, 3-Axis Sensor System for Robot Hands

    Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Alexandre Sarazin, Lorenzo Jamone, Sophon Somlor, Shigeki Sugano

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     454 - 460  2016年  [査読有り]

     概要を見る

    Integrating distributed sensors in the skin of robot hands is challenging, as the space is limited. This paper presents a dense and small tactile sensor system that can be installed on robotic hands. In the current implementation, the system is constituted by modules that are 26mm long and 27mm wide and they have been successfully integrated on the internal side of each finger phalange of the commercially available Allegro Hand (except the fingertips). Each sensor module contains 16 tri-axial taxels; each taxel is able to measure the applied 3D force vector using a Hall effect sensor and a magnet. The sensor modules are 4mm high, including the printed circuit board (PCB) with the sensors and the soft silicone with the magnets. The back of the PCB is flat without any components mounted, which eases the integration. Each sensor has I2C digital output, and each sensor module is connected to four I2C buses, requiring only seven wires for each module. The tri-axial taxels are close to each other (4.7 mm from the center of one taxel to the next), but experiments proved that independent force vectors can be measured and that the crosstalk is limited.

    DOI

  • Development of a hall-effect based skin sensor

    Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shuji Hashimoto, Shigeki Sugano, Lorenzo Jamone

    2015 IEEE SENSORS - Proceedings    2015年12月

     概要を見る

    © 2015 IEEE. In this paper we introduce a prototype of a novel hall-effect based skin sensor for robotic applications. It uses a small sized chip that provides 3-axis digital output in a compact package. Our purpose was to evaluate the feasibility of measuring 3-axis force while maintain a soft exterior for safe interactions. Silicone was used to produce the soft skin layer with about 8 mm thickness. An MLX90393 chip was installed at the bottom of layer, with a small magnet approximately 5mm above it to measure 3-axial magnetic field data. To evaluate the sensor's performance, an experiment was conducted by measuring normal and shear force when applying total forces of 0.7-14N in the normal and tangential directions of the sensor. The test revealed that the sensor prototype was able to differentiate the components of the force vector, with limited crosstalk. A calibration was performed to convert the measurements of the magnetic field to force values.

    DOI

  • Robust in-hand manipulation of variously sized and shaped objects

    Satoshi Funabashi, Alexander Schmitz, Takashi Sato, Sophon Somlor, Shigeki Sugano

    IEEE International Conference on Intelligent Robots and Systems   2015-   257 - 263  2015年12月  [査読有り]

     概要を見る

    Moving objects within the hand is challenging, especially if the objects are of various shape and size. In this paper we use machine learning to learn in-hand manipulation of such various sized and shaped objects. The TWENDY-ONE hand is used, which has various properties that makes it well suited for in-hand manipulation: a high number of actuated joints, passive degrees of freedom and soft skin, six-axis force/torque (F/T) sensors in each fingertip, and distributed tactile sensors in the skin. A dataglove is used to gather training samples for teaching the required behavior. The object size information is extracted from the initial grasping posture. After training a neural network, the robot is able to manipulate objects of untrained sizes and shape. The results show the importance of size and tactile information. Compared to interpolation control, the adaptability for the initial posture gap could be greatly extended. Final results show that with deep learning the number of required training sets can be drastically reduced.

    DOI

  • A novel tri-axial capacitive-type skin sensor

    Sophon Somlor, Richard Sahala Hartanto, Alexander Schmitz, Shigeki Sugano

    ADVANCED ROBOTICS   29 ( 21 ) 1375 - 1391  2015年11月  [査読有り]

     概要を見る

    This paper introduces a novel tri-axial capacitive force sensor. The sensor can measure the force vector, is embedded in soft 7mm-thick silicone skin, enables temperature sensitivity compensation and has digital output. To measure the force vector, tilted capacitive sensor elements are used which are facing in different directions to differentiate the tangential forces. The sensor is intended for distributed contact sensing in a robotic skin, but could be also used for other applications such as novel haptic user interfaces in wearable devices. A series of experiments was performed and showed good sensor characteristics. The concept of the tilted force transducers has been proven to have the capability of detecting the force vector acting on the local sensor surface.

    DOI

  • First Results of Tilted Capacitive Sensors to Detect Shear Force

    Sophon Somlor, Alexander Schmitz, Richard Sahala Hartanto, Shigeki Sugano

    2015 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS (IEEE IRIS2015)   76   101 - 106  2015年

     概要を見る

    This paper proposes a new soft capacitive-type 3-axis force sensor. The prototype version which can detect a multi-axis force vector is embedded inside 7mm-thick silicone skin, and provides digital output via an I2C bus. Tilted capacitive force transducers were used to measure the force vector; the transducers faced different directions to differentiate the tangential forces. Preliminary experiments were performed and the concept of the tilted force transducers has been proven to have the capability of differentiating the force vector acting on the sensor surface. (c) 2015 The Authors. Published by Elsevier B. V.

    DOI

  • A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

    Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2015-August   1322 - 1327  2015年  [査読有り]

     概要を見る

    Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

    DOI

  • A Prototype Force Sensing Unit for a Capacitive-type Force-Torque Sensor

    S. Somlor, A. Schmitz, R. S. Hartanto, S. Sugano

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     684 - 689  2014年

     概要を見る

    Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.

    DOI

▼全件表示

受賞

  • 論文賞

    2017年12月   FA財団  

    受賞者: ソムロア ソフォン

  • Soft Component Technologies Challenge

    2017年06月   IEEE Robotics and Automation Society   2nd Place  

    受賞者: Team uSkin

  • Best Paper Award

    2015年10月   2015 IEEE International Symposium on Robotics and Intelligent Sensors  

    受賞者: ソムロア ソフォン

共同研究・競争的資金等の研究課題

  • 科研費(若手B)

    事業団 日本学術振興会 

    研究期間:

    2017年04月
    -
    2019年04月
     

    ソムロア ソフォン

 

現在担当している科目

担当経験のある科目(授業)

  • Analysis and Discussion of Papers on Advanced Robotics

    Waseda University