JP3727642B1 - Tactile sensor and tactile sensor application device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a change in pressing in real time. In addition, it is possible to detect a change in pressure with a simple configuration and a small number of wires, improve reliability and reduce costs, and obtain information accurately.
SOLUTION: A sheet having resistance in the X direction and the Y direction along the sheet surface, having resistance in the Z direction coinciding with the thickness direction of the sheet and changing in resistance in the Z direction in response to pressing in the thickness direction. The pressure sensitive resistance sheet 4 is provided.
At least a pair of electrode portions 9, 10, 11, and 12 for supplying a current to at least one of the X-direction resistance and the Y-direction resistance are provided on the periphery of the pressure-sensitive resistance sheet 4. Are provided with at least a pair of conductors 5 and 6 for causing a current to flow through the resistance in the Z direction.
[Selection] Figure 3

Description

  The present invention relates to detection and control of input information of a pressure position, and relates to a tactile sensor that detects a contact coordinate, a contact pressure, and a contact length by a simple method and a tactile sensor application device using the tactile sensor.

Most of the conventional pressure position detection sensors detect pressure distribution, and sensors located on an X, Y matrix or electrodes are scanned to detect pressure distribution and calculate pressure position ( For example, Patent Document 1 and Patent Document 2). However, since all positions where pressure is applied are scanned in X and Y directions, it takes time to calculate the barycentric position of pressure, the area of pressure, and the average pressure, which are necessary information. For example, a 50 × 50 mm sensor with a resolution of 1 mm
Even if scanning is performed at 0 MHz, it takes 25 μsec per element. Furthermore, the wiring (2500 lines) for these scanning lines (50 × 50) becomes enormous as the sensor becomes larger, which hinders application.

Further, Patent Documents 3 to 8 have been proposed for detecting a similar function by combining a pressure sensor and an XY coordinate detection means, but pressure position information is detected by a combination of two or more functional materials. Therefore, when the position information of the press can be accurately detected, the pressure information at the position cannot be detected accurately. On the other hand, when the pressure information can be detected accurately, the position information becomes inaccurate, and both the pressure and the barycentric coordinate of the pressure cannot be accurately detected simultaneously.

In addition, pressure-sensitive conductive rubber and piezoelectric composite materials combined with resistors to determine pressure coordinates have been proposed, but none of them are accurate, and pressure and contact area were calculated. Therefore, it was insufficient as a pressure position detection sensor or a tactile sensor (for example, Patent Documents 9 to 11).
Japanese Patent Laid-Open No. 10-178688 Japanese Examined Patent Publication No. 7-58233 JP 59-178301 A Japanese Patent Publication No. 60-35602 Japanese Patent Publication No. 61-32601 Japanese Patent Publication No. 60-37401 JP-A-61-208533 JP 05-61592 A JP 59-110595 A JP 60-71194 A Japanese Patent Laid-Open No. 61-47501

  In recent years, a number of animal devices such as humanoid type robots have been provided. However, there are many such robot devices that must be operated in real time by a stimulus input by an external contact. In recent years, a pressure sensor is attached to the sole of the foot in order to balance the body during walking of a biped robot, and a subtle change in balance is detected and controlled in advance in real time. In addition, in order to detect the sense of touch of a finger of a hand, real-time control such as pressure control when holding an object or detection of pressure fluctuation when an object slides is required. For this reason, a large number of pressure sensors are arranged and sensor information is simultaneously processed by parallel processing. However, wiring of the large number of pressure sensors has hindered the apparatus.

In addition, if the pressure on the human body, such as the use of nursing care or a bed, is excessively biased, it may cause problems to the human body. This is the cause. In addition, if the position of a person sitting in a chair of an automobile that requires safety is shifted, it becomes difficult to accurately open the airbag at the center of the person in the event of an accident.
In these applications, even if the pressure distribution is not accurately known, the minimum necessary information (pressure center of gravity position, pressure contact area, average pressure amount) can be detected in real time, and the tactile sensor can detect the pressure position with fewer wires. There is a need for a pressure position detection sensor.

  In view of the above problems, the present invention seeks to detect a change in pressure in real time. In addition, the configuration is simple and the change in pressure can be detected with a small number of wires, so that the reliability can be improved and the cost can be reduced, so that information can be obtained accurately.

The technical means of the present invention for solving this technical problem is a sheet having resistance in the X direction and the Y direction along the sheet surface, having resistance in the Z direction that coincides with the thickness direction of the sheet and having a thickness. A pressure-sensitive resistance sheet in which the resistance in the Z direction changes in response to pressing in the direction,
At least a pair of electrode portions for supplying a current to at least one of the X-direction resistance and the Y-direction resistance are provided on the periphery of the pressure-sensitive resistance sheet, and the Z-direction resistance is provided on the surface of the pressure-sensitive resistance sheet. There is at least a pair of conductors for supplying a current to each other.
According to another technical means of the present invention, a voltage is applied to the at least one pair of electrode portions when current is supplied from any one of the electrode portions and the conductor and current is taken out from the remaining electrode portions or conductors. And at least one of the contact position in the X direction and the contact position in the Y direction is obtained from the combination of the voltages of the at least one pair of conductors.

According to another technical means of the present invention, a voltage is applied to the at least one pair of electrode portions when current is supplied from any one of the electrode portions and the conductor and current is taken out from the remaining electrode portions or conductors. Is corrected to a value corresponding to the obtained contact pressure and contact position, and the contact length in the X direction or the contact in the Y direction is corrected by correcting the voltage difference between before contact with the tactile sensor and when contacting the tactile sensor. The contact length of at least one of the lengths is obtained.
As another technical means, the pressure-sensitive resistor sheet includes a pair of first electrode portions for flowing current in the X direction and a pair of second electrode portions for flowing current in the Y direction. The first electrode, the second electrode, the third electrode, and the fourth electrode are provided at the four corners of the pressure-sensitive resistance sheet, respectively, and one of the pair of first electrode portions includes the first electrode portion, It is composed of a first electrode and a third electrode, the other first electrode portion is composed of a second electrode and a fourth electrode, and one second electrode portion of the pair of second electrode portions is The first electrode and the second electrode are configured, and the other second electrode portion is configured by the third electrode and the fourth electrode, and each of the electrodes is pressed against the pressure-sensitive resistance sheet at a predetermined pressure or more. A conductor for passing a current through the resistance in the Z direction is provided on the surface of the pressure-sensitive resistance sheet by a spacer. It may be held at regular intervals.

Another technical means of the present invention is a sheet having resistance in a direction along the sheet surface, and has resistance in the thickness direction of the sheet and changes in resistance in the thickness direction in response to pressing in the thickness direction. Equipped with a pressure sensitive resistance sheet,
In order to obtain at least two of the contact pressure, the contact position, and the contact length to the pressure sensitive resistance sheet, a current is passed through the pressure sensitive resistance sheet, and the pressure sensitive resistance sheet has a surface of several kilohms to several tens of megaohms. It is in the point comprised with the carbon containing polyethylene film with resistance . In this case, for example, a current may be passed through the pressure-sensitive resistance sheet in the direction along the sheet surface and / or in the thickness direction.
Another technical means of the present invention is that the pressure-sensitive resistance sheet is composed of a carbon-containing polyethylene film having a surface resistance of several kilohms to several tens of megaohms.

In addition, another technical means of the present invention includes a controlled device equipped with a tactile sensor, a power source that generates a potential gradient in the pressure-sensitive resistor sheet, and output voltages of the electrode unit and the pair of conductors. An A / D converter for converting to a digital value,
By inputting a digital signal from the A / D converter, at least two of the contact pressure to the tactile sensor, the contact position, the contact length in the X direction and / or the Y direction are obtained, and the obtained contact pressure is obtained. And a control unit that controls the controlled device 1 based on the contact position and the contact length.

According to the present invention, it is possible to detect a change in the pressure in real time by detecting only the barycentric coordinates of the pressure, the value of the pressure, and the contact length thereof, instead of detecting the pressure distribution with respect to the pressure.
In addition, since it is realized by an analog coordinate detection device and an analog contact pressure detection sensor in the same plane, the configuration is simple compared to conventional digital X, Y matrix sensors,
In addition, detection is possible with a small number of wires, and reliability can be improved and costs can be reduced. Further, even if compared with a conventional analog type, it can be detected in the same plane, so that information can be obtained accurately.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 and 2 show an embodiment in which the present invention is applied to a sole or a hand of a robot (controlled device) 1, and a unitized tactile sensor 3 is connected to the sole of a foot that is a skeleton of the robot 1. Wearing corresponding to the joint of the finger or palm. In the present embodiment, as shown in FIG. 1, two tactile sensors 3 are mounted on the soles of the robot 1, and as shown in FIG. 2, 14 tactile sensors 3 are mounted on the fingers of the hand. , One on the palm and one on the back of the hand. These tactile sensors 3 are arranged in accordance with the joints of the hands and soles, so that the joints can be freely operated, and the magnitude of the pressure, the area and the barycentric position of the pressure are less than millimeters. It can be obtained in real time with accuracy. If the tactile sensor 3 is attached to the sole of the foot, it is easy to detect a change in pressure when walking, and if it is attached to the finger of a hand, it is easy to detect a change in pressure or slipping when grasping an object. Further, as will be described later, the number of signal lines 2 taken out from the tactile sensor 3 is as few as 4 to 6 with respect to a single tactile sensor 3, and the taken-out wiring gets in the way, and the fingers that the robot hand holds, touches, etc. It is unlikely to interfere with the subtle behavior of the.

Next, the structure of the touch sensor 3 will be described in detail. FIG. 3 is a development of the tactile sensor 3 arranged on one of the soles, fingers, or palms shown in FIGS. 1 and 2 (in FIG. 2, use is made by winding the tactile sensor 3 with the fingers. did). FIG. 4 schematically shows the tactile sensor 3 as a top view and a side view. 3 and 4, the tactile sensor 3 includes a pressure-sensitive resistor sheet 4 and a pair of conductive films (conductors) 5 and 6 disposed so as to sandwich the pressure-sensitive resistor sheet 4 from both sides in the thickness direction. Is provided.
The pressure-sensitive resistance sheet 4 is a sheet having resistance in the X direction and the Y direction along the sheet surface, and has resistance in the Z direction that coincides with the thickness direction of the sheet, has pressure sensitivity in the thickness direction, and has a thickness. The resistance in the Z direction changes in response to the pressing in the direction. In the present embodiment, the pressure-sensitive resistance sheet 4 is constituted by a sheet having a surface resistance of about 10 4 to 10 8 by mixing carbon into polyethylene, for example.

  The sheet having a surface resistance of about 10 4 to 10 8 is a conductive film for protecting a substrate on which a semiconductor IC or electronic component is mounted from static electricity with a commercially available carbon-containing 100 μm thick polyethylene film. It is often used for bags and is generally available. In the embodiment, a sheet having a surface resistance of about 10 4 to 10 8 is used. However, since the shape of the pressure-sensitive resistance sheet used in various applications is different, the resistance between the electrodes is also greatly different. In an actual control circuit, it is desirable to optimally set the resistance so that the resistance between the electrodes and the pressure sensitive resistance do not affect the circuit input impedance as inputs to the control means and the switch means. Therefore, a surface resistance of several kilo ohms to several tens of mega ohms can be used according to various applications. However, if the surface resistance value is higher than this, the resistance value in the X direction or Y direction becomes large, making it difficult to detect the contact coordinates. May occur.

A pair of first electrode portions 9 and 10 for flowing current in the X direction and a pair of second electrode portions 11 and 12 for flowing current in the Y direction are provided on the periphery of the pressure sensitive resistance sheet 4. For example, the pair of first electrode portions 9, 10 is an electrode portion for allowing a current to flow through the resistance in the X direction of the pressure-sensitive resistor sheet 4, and the pair of second electrode portions 9, 10 is the pressure-sensitive resistor sheet 4. It is an electrode part for flowing a current through the resistance in the Y direction.
The pressure-sensitive resistor sheet 4 is formed in a square shape, and the first electrode A, the second electrode B, the third electrode C, and the fourth electrode D are provided at the four corners of the pressure-sensitive resistor sheet 4, respectively. The one first electrode portion 9 is composed of the first electrode A and the third electrode C, and the other first electrode portion 10 is composed of the second electrode B and the fourth electrode D, The second electrode portion 11 is composed of the first electrode A and the second electrode B, and the other second electrode portion 12 is composed of the third electrode C and the fourth electrode D. The first electrode A, the second electrode B, the third electrode C, and the fourth electrode D are configured, for example, by attaching a copper foil to the pressure-sensitive resistance sheet 4.

  The pair of conductive films 5 and 6 is provided on each of a pair of surfaces corresponding to the thickness direction of the pressure-sensitive resistor sheet 4, for example, a conductive material for passing a current through the resistance in the Z direction of the pressure-sensitive resistor sheet 4. The body (third electrode portion) is used. The conductive films 5 and 6 are films whose surfaces facing the pressure-sensitive resistance sheet 4 are conductive, and may be composed of aluminum PET in which aluminum is vapor-deposited on the surface of PET (Poly Ethylene Terephthalate). Alternatively, an FPC (flexible printed circuit board) in which a conductive film is stretched on PI (Poly Imide) may be used. The pair of conductive films 5 and 6 are respectively formed in a square shape corresponding to the pressure-sensitive resistance sheet 4, and the conductive films 5 and 6 are a pair of currents for flowing current in the Z direction through the pressure-sensitive resistance sheet 4. The third electrode portion is used. When the pair of conductive films 5 and 6 is used as a pair of third electrode portions, wiring from a power source or the like may be directly connected to the pair of conductive films 5 and 6, or the pair of conductive films For example, an electrode formed by attaching a copper foil to the films 5 and 6 may be provided, and wiring from a power source or the like may be connected to the electrode.

Next, the principle of performing contact pressure (pressure sensitive) detection and contact position (position coordinate) detection using the pressure sensitive resistance sheet 4 will be described.
The pressure-sensitive resistance sheet 4 exhibits a change in resistance with respect to the pressing force in the thickness direction. For example, when a load of 1 N (Newton) is applied to the pressure-sensitive resistance sheet 4 in an area of 4 mm in diameter, a resistance of several tens of kilohms is obtained. What we have is a resistance of several tens of ohms at a load of 100 N. A well-known pressure-sensitive conductive rubber is one having a function equivalent to this. Pressure-sensitive conductive rubber is a composite material that combines silicone rubber and metal or carbon particles, and is a pressure-sensitive conductive rubber that changes its resistance from an insulating state to a conductive state in response to pressure stimulation. Therefore, the metal particles in the inside are electrically conductive, and the function in the thickness direction is the same as that of the pressure-sensitive resistor sheet 4 used in the present invention in which the carbon is mixed. However, pressure-sensitive conductive rubber is also used as an anisotropic conductive connector in which metal particles are arranged in the thickness direction of a silicone rubber film in order to connect the electrode on the liquid crystal glass panel and the FFC cable connected to the outside. As has been done, since it is composed of rubber with high insulation performance and highly conductive metal particles, it has conductivity for pressurization in the thickness direction, but X, Y other than the pressurization periphery. The flat surface has high insulation performance, and conventionally, in order to detect the XY coordinate position, it has been carried out in combination with other parts as described above.

On the other hand, the pressure-sensitive resistance sheet 4 made of polyethylene film mixed with carbon used in the present invention has a predetermined resistance in the X and Y planes as compared with a conventional pressure-sensitive conductive rubber. . Accordingly, if a predetermined resistance value is obtained even in the X and Y planes, there is no problem in using rubber as the pressure-sensitive resistance sheet 4 or using other pressure-sensitive materials.
The pressure-sensitive resistance sheet 4 is sandwiched between the conductive surfaces of the two conductive films 5 and 6, but a spacer is interposed between the two conductive films 5 and 6 when no pressure is applied. 6 and 6 are preferably designed to have insulation or resistance that is at least twice as large as the resistance value in the thickness direction (Z direction) of the pressure-sensitive resistor sheet 4.

  As spacers, film spacers with a thickness of several microns to several tens of microns may be inserted at the left and right ends to create a gap, or micro spacers of spherical resin beads of several microns to several tens of microns used for touch panels and liquid crystal panels. It may be used to create a gap. When the conductive films 5 and 6 are pressed, the conductive surfaces of the conductive films 5 and 6 and the pressure-sensitive resistance sheet 4 are made to contact at the pressed position. When the gap is secured by the micro spacer, the pressure detection start sensitivity to the pressure changes depending on the distribution density of the micro spacer. When the density is large, the pressure-sensitive resistance sheet 4 is not contacted unless the pressure is large. Moreover, since it can detect with a little press when the density is small, the density of the micro spacer can be selected according to the application. Of course, these are also affected by the thickness and rigidity of the conductive films 5 and 6, so the pressure detection start sensitivity needs to be determined by the conditions of the conductive films 5 and 6 and the micro spacer.

  Now, the basic operation of detecting input information using the tactile sensor 3 configured as described above will be described. As a contact pressure detecting means for detecting contact pressure, a conductive film 5, a pressure sensitive resistance sheet 4, a conductive film. Use 6. The surface where the conductive surface of the conductive film 6 and the pressure-sensitive resistance sheet 4 are in contact with each other is a tactile sensor region, and the surface where the conductive film 5 and the conductive film 6 are opposed to each other and the surface where the pressure-sensitive resistor sheet 4 is in contact are the tactile pressure sensor region. And Therefore, the conductive area of the conductive film 6 and the conductive area of the conductive film 5 are not necessarily the same. A constant current is passed between the pair of conductive films 5 and 6 (a pair of third electrode portions). As described above, pressure is applied to the pressure-sensitive resistance sheet 4 by pressurizing the conductive film 6, and the resistance value in the Z direction changes. Therefore, if the current flowing through the pair of conductive films 5 and 6 is made constant, the applied pressure (contact pressure) can be obtained from the voltage Vz between the conductive films 5 and 6 (third electrode portion). That is, when a current is passed from the conductive film 5 and a current is taken out from the conductive film 6, the contact pressure is obtained from the difference (combination) between the voltage V5 of the conductive film 5 and the voltage V6 of the conductive film 6. it can.

Next, detection means for detecting a contact position (X and Y coordinates by contact) will be described. The voltage Vx0 is applied to the first electrode A and the third electrode C (first electrode portion 9) of the pressure-sensitive resistance sheet 4, and the second electrode B and the fourth electrode D (first electrode portion 10) are set to GND. FIG. 5 shows an equivalent circuit of the pressure-sensitive resistance sheet 4 in the case of spot contact. As shown in FIG. 5, when a certain coordinate position of the conductive film 6 is pressed, the conductive surface of the conductive film 6 is The pressure-sensitive resistance sheet 4 is contacted. The contact position is a point S at a distance of X1 in the X direction from the position of the second electrode B and the fourth electrode D (first electrode portion 10).
Is contacted, the voltage Vzx of the conductive film 6 (third electrode portion) is:
Vzx = X1 / (X1 + X2) * Vx0
It becomes.

Here, X2 is a distance in the X direction from the position of the first electrode A and the third electrode C (first electrode portion 9) to the contact point S.
Accordingly, when the voltage Vx0 is applied between the pair of first electrode portions 9 and 10 and a current in the X direction is passed through the pressure-sensitive resistor sheet 4, one of the first electrode portions 9 and one of the conductive films 6 are applied. The contact position in the X direction can be obtained from the relationship between the detected voltage Vzx and the applied voltage Vx0. That is, the difference (combination) between the voltage V9 of the first electrode unit 9 and the voltage V10 of the first electrode unit 10 when a current is supplied from the first electrode unit 9 and a current is extracted from the first electrode unit 10. The contact position in the X direction can be obtained from the difference (combination) between the voltage V9 of one of the first electrode portions 9 and the voltage V6 of one of the conductive films 6.

Similarly, when the voltage Vy0 is applied to the first electrode A and the second electrode B (second electrode part 11), and the third electrode C and the fourth electrode D (second electrode part 12) are GND,
Vzy = Y1 / (Y1 + Y2) * Vy0
It becomes.
Here, Y1 is the distance in the Y direction from the position of the third electrode C and the second electrode D (second electrode portion 12) to the contact point S, and Y2 is the first electrode A and the second electrode B ( The distance in the Y direction from the position of the second electrode portion 11) to the contact point S.

  Therefore, when the voltage Vy0 is applied between the pair of second electrode portions 11 and 12 and a current in the Y direction flows through the pressure-sensitive resistor sheet 4, one of the second electrode portions 11 and one of the conductive films 6 are applied. The contact position in the Y direction can be obtained from the relationship between the detected voltage Vzy and the applied voltage Vy0. That is, the difference (combination) between the voltage V11 of the second electrode unit 11 and the voltage V12 of the second electrode unit 12 when current is supplied from the second electrode unit 11 and current is extracted from the second electrode unit 12. The contact position in the Y direction can be determined from the difference (combination) between the voltage V11 of one second electrode portion 11 and the voltage V6 of one conductive film 6.

Further, the position coordinate detection is obtained even when a current is passed from the conductive film 6 at the contact position to the electrode portion of the pressure-sensitive resistor sheet 4 and the current is detected by each electrode portion arranged on the pressure-sensitive resistor sheet 4. You can also. At this time, the current value flowing out to the four corners flows in inverse proportion to the distance from the contact point.
6 to 8 are equivalent circuits in the case of surface contact, FIG. 6 shows an equivalent circuit of resistance in the X direction and Y direction at the time of surface contact, and FIG. 7 omits the resistance in the Y direction at the time of surface contact. FIG. 8 shows an equivalent circuit in the case where only the resistance in the X direction is taken out, and FIG. 8 shows the equivalent circuit in the case where only the resistance in the Y direction is taken out while omitting the resistance in the X direction at the time of surface contact. As shown in FIGS. 6 to 8, the contact coordinates can be obtained by the ratio of Vzx / Vx0 and the ratio of Vzy / Vy0 as in the case of FIG. The voltage Xzx is a voltage corresponding to the ratio of the pressure-sensitive resistor Rx4 and the pressure-sensitive resistor Rx5, and the voltage Xzy is a voltage corresponding to the ratio of the pressure-sensitive resistor Ry4 and the pressure-sensitive resistor Ry5. The applied voltage V6 is not the center of the contact area, but a voltage at a position proportional to the pressure distribution of the pressure is output. In particular, in the present invention, position coordinates and pressure information in the same plane can be taken in, so that accurate detection is possible.

Usually, when the contact surface has an area, an error occurs in the detection of the contact coordinate position without the contact pressure information. In the past (for example, Japanese Patent No. 3055448), for solving the problem, an accurate contact coordinate is obtained from a change due to the size of the contact surface. However, since the distribution information of the contact pressure is not captured, for example, the contact surface If the correction is performed in the contact area where the pressure information is not taken in such as when the contact pressure is large at one end, the error of the center position of the contact may increase. In the present invention, the X and Y coordinates of the contact position are obtained by a single pressure-sensitive resistor sheet 4 at a ratio corresponding to the pressure distribution in the same plane, so that the X and Y coordinates can be obtained more accurately. There are advantages you can do.

Next, the pressure sensitive resistance sheet 4 and the conductive film 6 are used as means for detecting the contact length from the contact peripheral pressure. First, before the contact pressure is applied, the first electrode A and the third electrode C (one first electrode portion 9), the second electrode B and the fourth electrode D (the other first electrode portion 10) of the pressure-sensitive resistance sheet 4 are used. ) To detect a voltage Vx0 between the pair of first electrode portions 9 and 10, and then the first electrode A and the second electrode B (one of the first electrodes B) of the pressure-sensitive resistor sheet 4 A constant current is applied between the second electrode portion 11) and the third electrode C and the fourth electrode D (the other second electrode portion 12), and the voltage Vy0 between the pair of second electrode portions 11 and 12 is set. To detect. When contact pressure is applied with an area at a certain position of the pressure sensitive resistance sheet 4 through the conductive film 6, the constant current flowing between the pair of first electrode portions 9, 10 and the pair of second electrode portions 11, 12 is The contact surface flows from the pressure-sensitive resistance sheet 4 to the conductive films 5 and 6, and the voltages Xx and Vy between the pair of first electrode portions 9 and 10 and between the pair of second electrode portions 11 and 12 decrease. The change amount Vx0-Vx in the X direction and the change amount Vy0-Vy in the Y direction can be defined as a contact area corresponding to the contact pressure. If the contact surface increases, the current passing through the conductive films 5 and 6 increases, and the voltage Vx between the first electrode portions 9 and 10 and the voltage Vy between the second electrode portions 11 and 12 decrease. .

This will be described with reference to the equivalent circuits of FIGS. 5 to 8. FIGS. 5 to 8 show the resistance of each part when the conductive film 6 and the pressure-sensitive resistance sheet 4 are pressed. FIG. 5 is an equivalent circuit in the case of point contact, and there is no change in resistance between the pair of first electrode portions 9 and 10 or the pair of second electrode portions 11 and 12 due to contact.
6 to 8 are equivalent circuits in the case of surface contact. Actually, each position of the contact surface and the distribution of the resistance of the pressure-sensitive resistance sheet 4 at that position are represented by FIGS. 6 to 8. It is an equivalent circuit modeled simply. As shown in FIGS. 6 and 7, the current between the pair of first electrode portions 9 and 10 flows through the resistor Rx1 of the pressure-sensitive resistor sheet 4 at a position other than the contact surface, and the contact surface has a large applied pressure at the contact surface. The pressure-sensitive resistor Rx5 and the pressure-sensitive resistance Rx5 at the position coordinate of the other edge portion of the contact surface where a large pressure is applied to the conductive film 6 through the pressure-sensitive resistor Rx4 and the pressure-sensitive resistor Rx40. The sum of the current flowing through the resistor Rx50 and the current flowing through the pressure-sensitive resistor Rx3 of the pressure-sensitive resistor sheet 4 flows through the pressure-sensitive resistor Rx2 of the pressure-sensitive resistor sheet 4. Since these are flowing to the conductive films 5 and 6 through the pressure sensitive resistor Rx4, the pressure sensitive resistor Rx40, the pressure sensitive resistor Rx5, and the pressure sensitive resistor Rx50 in the position coordinates of the edge portion of the contact surface, the detected voltage change The quantity V0x-Vx is not simply proportional to the contact area, but is also influenced by the pressure around the contact pressure contact. This determines the threshold value when detecting the contact area, and the value is determined by the current flowing so that the resistance becomes the smallest between the electrodes.

9 shows the equivalent resistance between the electrodes A and C when the contact position is near the center of the tactile sensor 3, and FIG. 10 shows the equivalent resistance between the contact position and the vicinity of the tactile sensor 3. Although the equivalent resistance between the electrodes A and C and the contact position is shown, a current flows so that the resistance becomes the smallest between the electrodes, so that the contact position connects the electrodes as shown in FIGS. When the distance from the shortest distance is exceeded, even if the contact area is the same, the change in resistance between the electrodes is reduced, so that it is necessary to correct by the contact coordinates.
In addition, the above contact length was detected when a current was passed through the electrode portions 9, 10, 11 and 12, but a change was detected. However, a current was passed through the conductor 5 or the conductor 6, and the electrode portions 9, 10, 11 were passed. , 12 may be used to detect the change in the voltage, and the contact length may be calculated from the combination of the voltages for which the contact pressure and the contact coordinates that have already been detected are obtained.

In the present invention, since the pressure around the contact can be taken in the same plane, the detected contact area can obtain a highly accurate value. When the contact area is small, the pressure-sensitive resistance Rx3 and the pressure-sensitive resistance Ry3 shown in FIGS. 6 to 8 are small, so that the current flowing around the conductive films 5 and 6 is reduced and the contact area is detected smaller. However, these may be simply corrected and used, or the load applied to the contact surface may be corrected in combination with the previously detected pressure value.
In the above description, the electrode configuration at the time of pressure detection and coordinate detection is the same, and the control method is also the same, and the control unit 27 is used in common and is switched by the switch means 16 to detect the pressure, and the X direction and the Y direction. Are separately detected and the contact length has been obtained, but the electrode portions 9, 10, 11, 12 (electrodes A, B, C, D) of the pressure-sensitive resistance sheet 4 from the conductive film 6 at the contact position have been obtained. Current is taken out and the current is taken out from the conductor 5, whereby pressure detection flows to each of the electrode portions 9, 10, 11, 12 (electrodes A, B, C, D) disposed on the pressure-sensitive resistance sheet 4. The position coordinate in the X direction and the Y direction can also be detected at a time by the control method that detects by current.

Moreover, in the said embodiment, although XY coordinate position was calculated | required, depending on a use,
The sensor electrode configuration may be simplified to obtain only the X coordinate and only the Y coordinate.
In short, the sheet has resistance in the direction along the sheet surface, and includes a pressure-sensitive resistance sheet 4 that has resistance in the thickness direction of the sheet and changes resistance in the thickness direction in response to pressing in the thickness direction. In order to obtain at least two of the contact pressure, the contact position, and the contact length with respect to the resistance sheet 4, a current may be passed through the pressure-sensitive resistance sheet 4 in the direction along the sheet surface and / or in the thickness direction. .

Next, the operation of the tactile sensor of the present invention and the control of the robot 1 using the tactile sensor will be described in detail.
In FIG. 11, 15 is a constant current power source, 16 is a switch means configured using an analog multiplexer, and includes a changeover switch SW1 and a changeover switch SW2, and as shown in FIG. 1 or FIG. Is interposed between the tactile sensor 3 and a control means 24 described later. The change-over switch SW1 has a pair of movable contacts 18 and 19 that move in conjunction with each other, and changes over whether the constant current power supply 15 is connected to the conductive films 5 and 6 or to the electrodes A and D. It has become. The changeover switch SW2 has a movable contact 21 that connects the electrode B to the electrode D or the electrode A, and a movable contact 22 that connects the electrode C to the electrode A or the electrode D, and supplies current to the electrodes A and C (first electrodes). Switching from the part 9) to the electrodes B and D (first electrode part 10) or to flow current from the electrodes A and B (second electrode part 11) to the electrodes C and D (first electrode part 12). It has become.

  Reference numeral 23 denotes a switch switching circuit which switches the switch SW1 and SW2 in conjunction with each other. A control unit 24 includes an A / D converter 25, a control unit 27 having a CPU and a memory, and a motor drive circuit 28. Reference numeral 30 denotes an external controller composed of a CPU or the like. Reference numeral 31 denotes a drive motor of the robot 1, which is attached to the knee or ankle portion of the leg of the robot 1 as shown in FIG. 1, and the lower leg portion of the robot 1 is swung back and forth by driving the drive motor 31. It is designed to swing back and forth at the ankle part. Further, as shown in FIG. 2, the drive motor 31 is incorporated in the joint portion of the finger of the hand corresponding to each tactile sensor 3 attached to the finger of the hand, and the finger of the hand is driven by the drive motor 31. It can be moved at the joints to hold and open hands.

To control the tactile sensor 3, first, the movable contacts 18 and 19 of the changeover switch SW1 are tilted toward the conductive films 5 and 6 so that a current flows from the constant current power supply 15 to the conductive films 5 and 6. Usually, when the touch sensor 3 is not touched, the conductive films 5 and 6 are insulated by a spacer or the like. Therefore, when a current is passed between the conductive films 5 and 6, the conductive films 5 and 6 are electrically connected. A maximum voltage Vmax set by the constant current power supply 15 is generated. Then, by contacting the tactile sensor 3, the conductive films 5 and 6 are connected via the pressure-sensitive resistor sheet 4, and a voltage Vz is generated between the conductive films 5 and 6. The detection described below is started when the voltage Vz becomes equal to or lower than a predetermined voltage.
[Detection of contact pressure]
As the pressure due to contact with the touch sensor 3 increases, the resistance of the pressure-sensitive resistance sheet 4 decreases and the voltage Vz between the conductive films 5 and 6 changes. Therefore, the voltage Vz is equal to or lower than the predetermined voltage Vz0. When a current is taken out from the conductive film 6 after a predetermined time from when the voltage becomes V, the voltage Vz indicating the contact pressure is determined from the difference (combination) between the voltage V5 of the conductive film 5 and the voltage V6 of the conductive film 6. The data detected and converted by the A / D converter 25 of the control means 24 is stored in the control unit 27.
[Detection of contact coordinates]
Next, the movable contacts 18 and 19 of the changeover switch SW1 are tilted toward the electrodes A and D, and the constant current power supply 15 is connected to the electrodes A and D. At this time, the changeover switch SW2 has its movable contact so that a constant current flows from the constant current power supply 15 to the electrodes A and C (first electrode portion 9) and the electrodes B and D (first electrode portion 10). 21 is tilted to the electrode D side to connect the electrode B and the electrode D, and the movable contact 22 is tilted to the electrode A side to connect the electrode A and the electrode C. The first electrode unit 9, which is the difference (combination) between the voltage V <b> 9 of the first electrode unit 9 and the voltage V <b> 10 of the first electrode unit 10 when a current is passed and the current is taken out from the first electrode unit 10, The voltage V0x between 10 is input to the control unit 24, converted by the AD converter 25, and the data is stored in the control unit 27.

At this time, the current flows through the pressure-sensitive resistor sheet 4 in the X direction, and the voltage V10 of one first electrode portion 9 is applied.
The voltage Vzx between the conductive film 5 and the electrodes B and D (first electrode portion 10) is detected from the difference (combination) between the voltage V6 of the one conductive film 6 and the control voltage in the same manner. The data is converted by the 24 AD converters 25 and the data is stored in the control unit 27. Since the X coordinate of the contact position indicating the contact position in the X direction is Vzx / V0x, it is calculated by the control unit 27 to obtain the X coordinate.

Next, the movable contact 21 of the changeover switch SW2 is tilted to the electrode A side to connect the electrode A and the electrode B, and the movable contact 22 is tilted to the electrode D side to connect the electrode C and the electrode D. , B (second electrode portion 11) and electrodes C, D (second electrode portion 12), the current flows in the Y direction in the pressure-sensitive resistor sheet 4, and similarly the Y coordinate of the contact position. The difference (combination) between the voltage V11 of the second electrode unit 11 and the voltage V12 of the second electrode unit 12 when a current is passed from the second electrode unit 11 and a current is extracted from the second electrode unit 12 From the difference (combination) between the voltage V11 of the one second electrode part 11 and the voltage V6 of the one conductive film 6, the control part 27 calculates Vzy / V0y for obtaining the contact position in the Y direction, Store data in memory.
[Detection of contact area against contact pressure]
The voltage between the electrodes A and C (first electrode portion 9) and the electrodes B and D (first electrode portion 10) when not in contact with the tactile sensor 3 in advance is V0xmax, and the electrodes A and B (second electrode). The voltage V0max between the unit 11) and the electrodes C and D (second electrode unit 12) is AD converted by the A / D converter 25 of the control means 24, and the data is stored in the control unit 27. Since the contact areas with respect to the contact pressure in the X direction and the Y direction can be represented by V0max−V0x and V0ymax−V0y, respectively, these data are calculated by the control unit 27 and stored in the memory.
[Transfer to external CPU and motor control]
Next, the data stored in the memory of the control unit 27 is transferred to the external controller 30, and at the same time, the control unit 27 again touches the tactile sensor 3 until an instruction for driving the motor is received from the external controller 30. Control of detection of pressure, detection of contact coordinates, and detection of contact length (area) with respect to contact pressure is performed, and each drive motor 31 is driven and controlled so that the fluctuation is minimized. The voltage between the pair of first electrode portions 9 and 10 and between the pair of second electrode portions 11 and 12 becomes a predetermined value or more, and the voltage between the pair of conductors 5 and 6 becomes a predetermined value or more. When this happens, the control for holding the data value obtained by the control unit 27 is stopped.
According to the above embodiment, it is possible to accurately and quickly detect how much contact pressure is applied to the position of the XY coordinate of the tactile sensor 3, and the drive motor 31 for each finger of the robot 1 according to the input information. Can be fed back precisely and accurately according to the situation. For example, when shaking hands with the robot 1, it is weak and soft to the child, strong when it is necessary to strongly express the intention, and it is possible to accurately convey the intention by controlling to the tip of the finger. In addition, if this is applied to the detection of the pressure on the sole, if the balance is lost when walking on two legs, the change in contact pressure of a part of the foot can be detected. It can also be used for purposes of maintaining

  12 and 13 show other embodiments. Instead of the change-over switches SW1 and SW2 of the switch means 16 in the embodiment, the switch circuit 16 includes a first switch SW11, a second switch SW12, a third switch SW13, and a third switch SW13. 4 switch SW14 is provided. The first switch SW11 has a movable contact 35 and is configured to connect or disconnect the conductive film 5 to the high voltage side of the constant voltage power supply 15. The second switch SW12 has a movable contact 36, and is configured to connect or disconnect the first electrode A of the pressure-sensitive resistor sheet 4 to the GND side of the constant voltage power supply 15. The third switch SW13 has a movable contact 37, and is configured to connect or disconnect the conductive film 6 to the GND side of the constant voltage power supply 15. The fourth switch SW14 has a movable contact 21 that connects the electrode B to the electrode D or the electrode A, and a movable contact 22 that connects the electrode C to the electrode A or the electrode D, like the changeover switch SW2. Is passed from the electrodes A and C (first electrode portion 9) to the electrodes B and D (first electrode portion 10), or a current is passed from the electrodes A and B (second electrode portion 11) to the electrodes C and D (first electrode). Switching to the part 12). Further, the conductive films 5 and 6 and the electrodes A, B, C and D of the pressure-sensitive resistor sheet 4 are connected to the A / D converter 25 of the control means 24, and the conductive films 5 and 6 and the pressure-sensitive resistor sheet 4 are connected. The signals (voltages) from the electrodes A, B, C, and D are input to the A / D converter 25. The other points are the same as those in the above embodiment.

  In the case of this embodiment, the control unit 27 of the control means 24 switches the first switch SW11 to the fourth switch SW14 via the switch switching circuit 23 as shown in FIG. That is, in FIG. 13, the order of switching the first switch SW11 to the fourth switch SW14 is described at the left end, and the switching is performed in the order of 1, 2, 3, 4, 5 from the bottom. “1” in the row of the first switch SW 11 indicates a state in which the conductive film 5 is connected to the high voltage side of the constant voltage power supply 15, and “0” indicates the conductivity to the high voltage side of the constant voltage power supply 15. The state which cut | disconnected the film 5 is shown. “1” in the column of the second switch SW12 indicates a state in which the first electrode A of the pressure sensitive sheet 4 is connected to the GND side of the constant voltage power supply 15, and “0” indicates the GND side of the constant voltage power supply. On the other hand, the state which cut | disconnected the 1st electrode A of the pressure sensitive sheet 4 is shown. “1” in the row of the third switch SW 13 indicates a state in which the conductive film 6 is connected to the GND side of the constant voltage power supply 15, and “0” indicates that the conductive film 6 is conductive to the GND side of the constant voltage power supply 15. The state which cut | disconnected the film 6 is shown. “1” in the row of the fourth switch SW14 indicates a state in which the current is switched to flow from the electrodes A and C (first electrode portion 9) to the electrodes B and D (first electrode portion 10). Shows a state where the current is switched to flow from the electrodes A and B (second electrode portion 11) to the electrodes C and D (first electrode portion 12).

  Under the control of the control unit 27, the first switch SW11 to the fourth switch SW14 are switched through the switch switching circuit 23. First, the first switch SW11 to the fourth switch SW14 are in the state of “1, 1, 1, 1”, the Z-coordinate press detection is performed as in the case of the above-described embodiment, and then the first switch The switch SW11 to the fourth switch SW14 are switched to the “1, 1, 0, 1” state, and the contact area is detected in the same manner as in the above embodiment. Next, after the first switch SW11 to the fourth switch SW14 are switched to the “1, 0, 0, 1” state, the first switch SW11 to the fourth switch SW 14 are further switched to the “1, 0, 0, 1” state. The Y coordinate detection is performed as in the case, and finally, the first switch SW11 to the fourth switch SW14 are switched to the state of “0, 0, 0, 0”, and the X coordinate is the same as in the above embodiment. Detection is performed.

Therefore, in the case of this embodiment as well, as in the case of the above embodiment, it is possible to accurately and quickly detect how much contact pressure is applied to the position of the XY coordinate of the touch sensor 3, and the input information Accordingly, the drive motor 31 of each finger of the robot 1 can be operated to feed back precisely and accurately according to the situation.
In the above embodiment, the switch means 16 causes a current to flow through the conductive films 5 and 6 to perform pressure detection, and the current flows through the electrode portions 9, 10, 11, and 12 to obtain contact coordinates. However, the method for obtaining the pressure detection and the contact coordinates is not limited to the case of the above-described embodiment. For example, the power source 15 is connected to the conductive film 6 and, as shown in FIG. By passing a current from the film 6 and simultaneously taking out the current from the electrode portions 9, 10, 11, 12 of the pressure-sensitive resistor sheet 4 and the conductive film 5 at the contact position, the voltage V5 of the conductive film 5 and the voltage of the conductive film 6 The pressure is detected from V6, and the contact position in the X direction is obtained from the voltage V6 of the conductive film 6 and the voltages VA and VC of the electrodes A and C using the formula [(V6-VA) / (V6-VC)]. When In addition, the contact position in the Y direction may be obtained from the voltage V6 of the conductive film 6 and the voltages VB and VD of the electrodes B and D using the formula [(V6-VB) / (V6-VD)]. . Therefore, by combining the voltage of each electrode part 9, 10, 11, 12 (each electrode A, B, C, D) and the voltage of the conductive films 5, 6, no switch means is required, pressure detection, position coordinates. Detection and contact length can also be obtained.

In the above embodiment, a DC constant current source is applied in order to easily understand the principle. However, a simple constant current source may be realized by using a constant voltage source and a resistor. It is also possible to use an AC power supply for a method of reducing the noise component by extracting only a signal having a predetermined frequency component.
In the above-described embodiment, the pressure-sensitive resistor sheet 4 is formed in a square shape, but the shape of the pressure-sensitive resistor sheet 4 is not limited to this, and may be a circle or other shapes. Further, the pair of conductive films 5 and 6 may be circular or other shapes corresponding to the shape of the pressure sensitive resistance sheet 4. In addition, the first electrode A, the second electrode B, the third electrode C, and the fourth electrode D are provided at the four corners of the pressure-sensitive resistance sheet 4, and the first electrode A, B, C, and D are used to Even when the electrode part 9, the first electrode part 10, the second electrode part 11, and the second electrode part 12 are configured, the pressure-sensitive resistance sheet 4 is not limited to a rectangular shape. For example, the four sides of the pressure-sensitive resistance sheet 4 are The shape may be a quadrangular shape that is recessed in an arcuate shape, a shape in which four sides bulge into an arcuate shape, or other shapes.

Moreover, in the said embodiment, as a conductor for flowing an electric current through the resistance of the Z direction provided in the surface of the pressure sensitive resistance sheet 4, a pair of pressure sensitive resistance sheet 4 arrange | positioned so that it may pinch | interpose from both sides of the thickness direction Although the conductive films 5 and 6 are used, instead of this, a pair of conductors sandwiching the pressure-sensitive resistor sheet 4 from both sides may be constituted by a thin copper plate or the like. In addition, three or more conductors may be provided on the surfaces on both sides in the thickness direction of the pressure-sensitive resistor sheet 4 so that a current flows through the resistance in the Z direction of the pressure-sensitive resistor sheet 4.
Moreover, in the said embodiment, when an electric current is sent from the electroconductive film 5 and an electric current is taken out from the electroconductive film 6, from the difference (combination) between the voltage V5 of the electroconductive film 5 and the voltage V6 of the electroconductive film 6. When the contact pressure is obtained, a current is passed from the first electrode portion 9 and a current is taken out from the first electrode portion 10, the difference between the voltage V9 of the first electrode portion 9 and the voltage V10 of the first electrode portion 10 ( Combination) and the difference (combination) between the voltage V9 of one of the first electrode portions 9 and the voltage V6 of one of the conductive films 6, the contact position in the X direction is obtained, and the current from the second electrode portion 11 is obtained. When the current is taken out from the second electrode portion 12, the difference (combination) between the voltage V11 of the second electrode portion 11 and the voltage V12 of the second electrode portion 12 and the voltage of one second electrode portion 11 are obtained. V11 and one of the conductive films 6 The contact position in the Y direction is obtained from the difference (combination) from the pressure V6, but the method for obtaining the contact pressure, the contact position in the X direction, and the contact position in the Y direction is not limited to these. On the contrary, when a current is passed from the conductive film 6 and a current is taken out from the conductive film 5, the contact pressure is determined from the difference (combination) between the voltage V6 of the conductive film 6 and the voltage V5 of the conductive film 5. Of course, when the current is supplied from the first electrode unit 10 and the current is extracted from the first electrode unit 9, the voltage V10 of the first electrode unit 10 and the first The contact position in the X direction may be obtained from the difference (combination) between the voltage V9 of the first electrode unit 9 and the difference (combination) between the voltage V10 of the first electrode unit 10 and the voltage V5 of the conductive film 5. Of course, it ’s good, The difference (combination) between the voltage V12 of the second electrode unit 12 and the voltage V11 of the second electrode unit 11 when a current is supplied from the second electrode unit 12 and the current is extracted from the second electrode unit 11; Of course, the contact position in the Y direction may be obtained from the difference (combination) between the voltage V12 of the second electrode portion 12 and the voltage V5 of the conductive film 5. Further, in the case of the embodiment of FIG. 14, by passing a current from the conductive film 6 and simultaneously taking out the current from the electrode portions 9, 10, 11, 12 of the pressure-sensitive resistor sheet 4 and the conductive film 5 at the contact position. The pressure is detected and the contact coordinate position is obtained, but instead of this, a current is passed from the conductive film 5, and the electrode portions 9, 10, 11, 12 of the pressure-sensitive resistance sheet 4 and the conductive film 6 are used. The pressure may be detected by taking out the current at the same time, and the contact coordinate position may be obtained. Furthermore, it is not always necessary to detect both the X-direction contact position and the Y-direction contact position, and it is only necessary to detect either one of the contact positions. In short, when a current is supplied from any one of the electrode parts 9, 10, 11, 12 and the conductors 5, 6 and a current is taken out from the remaining electrode parts 9, 10, 11, 12 or the conductors 5, 6 Further, from the combination of the voltages V9, V10, V11, V12 of the at least one pair of electrode portions 9, 10, 11, 12 and the voltages V5, V6 of the at least one pair of conductors 5, 6, the contact pressure and X The contact position in the direction or the contact position in the Y direction may be obtained.

  In the above embodiment, contact pressure detection for obtaining the contact pressure is performed, contact position detection for obtaining the contact position in the X direction is performed, contact position detection for obtaining the contact position in the Y direction is performed, and the contact length in the X direction. The contact length (area) is detected, and the contact length (area) is detected to determine the contact length in the Y direction. However, it is not always necessary to perform all of these five types of detection. One or a plurality of types of detection can be omitted. For example, contact pressure detection for obtaining a contact pressure and contact position detection for obtaining a contact position in the X direction may be performed. The contact pressure detection for obtaining the contact pressure and the contact position detection for obtaining the contact position in the Y direction may be performed, or the contact pressure detection for obtaining the contact pressure and the contact length (area) for obtaining the contact length in the X direction. ) You may make it do two with detection, Request Sawa圧 contact pressure detection and the Y direction of the contact length of the seek contact length (area) may be formed two and detection. Further, the contact position detection for obtaining the contact position in the X direction and the contact length (area) detection for obtaining the contact length in the X direction may be performed, or the contact position for obtaining the contact position in the X direction. Detection and contact length (area) detection for obtaining the contact length in the Y direction may be performed, contact position detection for obtaining the contact position in the Y direction, and contact for obtaining the contact length in the X direction. Either length (area) detection may be performed, or contact position detection for obtaining a contact position in the Y direction and contact length (area) detection for obtaining a contact length in the Y direction may be performed. Good.

  Moreover, in the said embodiment, the 1st electrode A, the 2nd electrode B, the 3rd electrode C, and the 4th electrode D were each provided in the four corners of the pressure sensitive resistance sheet 4, and these electrodes A, B, C are provided. , D, a pair of first electrode portions 9 and 10 for causing a current to flow in the X direction through the pressure sensitive resistor sheet 4, and a pair of second electrode portions 11 for causing a current to flow through the pressure sensitive resistor sheet 4 in the Y direction. , 12, but a pair of first electrode portions 9, 10 for flowing current in the X direction to the pressure sensitive resistor sheet 4 and a pair of current for flowing current in the Y direction to the pressure sensitive resistor sheet 4. The second electrode portions 11 and 12 are not limited to those having such a configuration. For example, the pair of first electrode portions 9 and 10 or the pair of second electrode portions 11 and 12 each include one or three or more. It is also possible to use a dot electrode. In the embodiment, the structure of the first electrode portions 9 and 10 and the second electrode portions 11 and 12 is the same as the conventional 5-wire control method used for the touch panel detection method. By changing the control method, it is possible to adopt a 7-wire or 8-wire control method of five or more wires.

  In the tactile sensor application device shown in FIG. 11 or FIG. 12 in the above-described embodiment, one tactile sensor among a plurality of tactile sensors 3 attached to the robot (controlled device) 1 for simplification of description. The motor drive circuit 28 of the robot 1 is driven and controlled based on the detection output of the robot 3, but instead, one or more motor drive circuits of the robot 1 are controlled based on the detection output of the plurality of touch sensors 3. The robot 1 may be controlled based on the combined detection output of the plurality of tactile sensors 3. Conversely, only one tactile sensor 3 is attached to the robot (controlled device) 1 and the motor drive circuit 28 of the robot 1 is driven and controlled based on the detection output of the one tactile sensor 3. May be.

  In the above embodiment, the robot 1 is driven and controlled as a tactile sensor application device using the tactile sensor 3, but the tactile sensor application device using the tactile sensor 3 is driven and controlled. For example, a care use chair, a bed or an air bag device may be used as a controlled device, and these may be controlled based on the detection output of the touch sensor 3.

  It can be used as a robot tactile sensor device or a device that detects and controls the pressure applied to a chair or bed.

It is a perspective view of the lower leg part of the robot which shows one embodiment of the present invention. It is a perspective view of the hand part of the robot. It is a disassembled perspective view of the tactile sensor. It is a key map showing an example of contact area detection of the tactile sensor. It is an equivalent circuit of the pressure sensitive resistance sheet at the time of point contact to the tactile sensor. It is an equivalent circuit of the pressure sensitive resistance sheet at the time of surface contact to the tactile sensor. It is the equivalent circuit of the X direction of the pressure sensitive resistance sheet | seat at the time of the surface contact to the tactile sensor. It is the equivalent circuit of the Y direction of the pressure sensitive resistance sheet | seat at the time of the surface contact to the tactile sensor. It is an equivalent circuit when the contact position to the tactile sensor is near the center. It is an equivalent circuit when the contact position to the tactile sensor is near the periphery. It is a circuit diagram of the same tactile sensor application apparatus. It is a circuit diagram of the tactile sensor application apparatus which shows other embodiment. It is a figure which shows the order of switching of the changeover switch. It is an equivalent circuit of a pressure sensitive resistance sheet for showing other methods, such as pressure detection.

Explanation of symbols

1 Robot (controlled device)
3 Tactile Sensor 4 Pressure Sensitive Resistance Sheet 5 Conductive Film (Conductor)
6 Conductive film (conductor)
9 1st electrode part 10 1st electrode part 11 2nd electrode part 12 2nd electrode part 27 Control part 30 External controller

Claims (6)

A pressure-sensitive resistor having resistance in the X direction and the Y direction along the sheet surface, having resistance in the Z direction coinciding with the thickness direction of the sheet and changing the resistance in the Z direction in response to pressing in the thickness direction A seat (4),
At least a pair of electrode portions (9, 10, 11, 12) for supplying a current to at least one of the X-direction resistance and the Y-direction resistance are provided around the pressure-sensitive resistance sheet (4). A tactile sensor characterized in that at least a pair of conductors (5, 6) for causing a current to flow through the resistance in the Z direction are provided on the surface of the piezoresistive sheet (4).   A current is supplied from any one of the electrode portions (9, 10, 11, 12) and the conductors (5, 6), and the remaining electrode portions (9, 10, 11, 12) or conductors (5, 6) are supplied. ) When the current is taken out from the voltage (V9, V10, V11, V12) of the at least one pair of electrode portions (9, 10, 11, 12) and the voltage (V 2. The tactile sensor according to claim 1, wherein a contact pressure and at least one of a contact position in the X direction and a contact position in the Y direction are obtained from a combination with V5 and V6).   A current is supplied from any one of the electrode portions (9, 10, 11, 12) and the conductors (5, 6), and the remaining electrode portions (9, 10, 11, 12) or conductors (5, 6) are supplied. ), When the current is taken out, the voltage (V9, V10, V11, V12) of the at least one pair of electrode portions (9, 10, 11, 12) is set before the contact with the tactile sensor and when the contact with the tactile sensor. The voltage difference is corrected to a value corresponding to the obtained contact pressure and contact position, and at least one of the contact length in the X direction or the contact length in the Y direction is obtained. The tactile sensor according to claim 2. A sheet having resistance in a direction along the sheet surface, comprising a pressure-sensitive resistance sheet (4) having resistance in the thickness direction of the sheet and changing resistance in the thickness direction in response to pressing in the thickness direction,
In order to obtain at least two of the contact pressure, contact position, and contact length to the pressure-sensitive resistor sheet (4), a current is passed through the pressure-sensitive resistor sheet (4) ,
The pressure-sensitive resistance sheet (4) is composed of a carbon-containing polyethylene film having a surface resistance of several kilohms to several tens of megaohms . The tactile sensor according to claim 1 , wherein the pressure-sensitive resistance sheet (4) is made of a carbon-containing polyethylene film having a surface resistance of several kilohms to several tens of megaohms. A controlled device (1) to which the tactile sensor (3) according to claim 1 is mounted, a power source (15) for generating a potential gradient in the pressure-sensitive resistance sheet (4), and the electrode portions (9, 10). , 11, 12) and an A / D converter (25) for converting the output voltage of the pair of conductors (5, 6) into a digital value,
The digital signal from the A / D converter (25) is input to obtain at least two of the contact pressure, the contact position, and the contact length in the X direction and / or the Y direction to the tactile sensor (3). A tactile sensor application device comprising a control unit (27) for controlling the controlled device (1) based on the obtained contact pressure, contact position, and contact length.

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