ソムロア ソフォン (ソムロア ソフォン)

写真a

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 【 表示 / 非表示

  • 理工学術院   大学院創造理工学研究科

学歴 【 表示 / 非表示

  • 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 【 表示 / 非表示

  • Waseda University   Doctor of Engineering

経歴 【 表示 / 非表示

  • 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 【 表示 / 非表示

  •  
     
     

    IEEE Membership

 

研究分野 【 表示 / 非表示

  • 知能ロボティクス   Tactile sensors

研究キーワード 【 表示 / 非表示

  • Humanoid robots

  • Sensing

  • Tactile sensor

論文 【 表示 / 非表示

  • 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

全件表示 >>

受賞 【 表示 / 非表示

  • 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 【 表示 / 非表示

  • 科研費(若手B)

    研究期間:

    2017年04月
    -
    2019年04月
     

    ソムロア ソフォン

    担当区分: 研究代表者

 

現在担当している科目 【 表示 / 非表示

担当経験のある科目(授業) 【 表示 / 非表示

  • Analysis and Discussion of Papers on Advanced Robotics

    Waseda University