CA1247717A - Tactile sensing means - Google Patents
Tactile sensing meansInfo
- Publication number
- CA1247717A CA1247717A CA000459994A CA459994A CA1247717A CA 1247717 A CA1247717 A CA 1247717A CA 000459994 A CA000459994 A CA 000459994A CA 459994 A CA459994 A CA 459994A CA 1247717 A CA1247717 A CA 1247717A
- Authority
- CA
- Canada
- Prior art keywords
- pressure sensing
- sensing devices
- outputs
- tactile
- processor means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 19
- 239000011241 protective layer Substances 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 9
- 239000010410 layer Substances 0.000 claims description 5
- 230000015541 sensory perception of touch Effects 0.000 claims 3
- 230000002787 reinforcement Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 15
- 238000009826 distribution Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 3
- 239000000470 constituent Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000543 intermediate Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000036413 temperature sense Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58141030A JPS6034295A (ja) | 1983-08-03 | 1983-08-03 | 皮膚感覚センサ |
JP141030/83 | 1983-08-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
CA1247717A true CA1247717A (en) | 1988-12-28 |
Family
ID=15282579
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA000459994A Expired CA1247717A (en) | 1983-08-03 | 1984-07-30 | Tactile sensing means |
Country Status (5)
Families Citing this family (67)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4884223A (en) * | 1985-07-05 | 1989-11-28 | Hybond, Inc. | Dynamic force measurement system |
US4857916A (en) * | 1987-02-26 | 1989-08-15 | Bellin Robert W | System and method for identifying an individual utilizing grasping pressures |
US5263375A (en) * | 1987-09-18 | 1993-11-23 | Wacoh Corporation | Contact detector using resistance elements and its application |
US5092645A (en) * | 1987-09-18 | 1992-03-03 | Wacoh Corporation | Robotic gripper having strain sensors formed on a semiconductor substrate |
JPH01222851A (ja) * | 1988-03-03 | 1989-09-06 | Kitamura Mach Co Ltd | 工作機械の主軸スラストカの検出方法 |
JPH0665454B2 (ja) * | 1988-03-14 | 1994-08-24 | エルコー株式会社 | 荷重検出器付き工具取り付けアダプタ |
WO1991010118A1 (en) | 1989-12-28 | 1991-07-11 | Wacoh Corporation | Apparatus for detecting physical quantity that acts as external force and method of testing and producing this apparatus |
US6864677B1 (en) | 1993-12-15 | 2005-03-08 | Kazuhiro Okada | Method of testing a sensor |
US5421213A (en) * | 1990-10-12 | 1995-06-06 | Okada; Kazuhiro | Multi-dimensional force detector |
US6314823B1 (en) | 1991-09-20 | 2001-11-13 | Kazuhiro Okada | Force detector and acceleration detector and method of manufacturing the same |
US5297910A (en) * | 1991-02-15 | 1994-03-29 | Tokyo Electron Limited | Transportation-transfer device for an object of treatment |
US5373747A (en) * | 1991-03-30 | 1994-12-20 | Kabushiki Kaisha Toshiba | Robot hand and robot |
CH682263A5 (US06521211-20030218-C00004.png) * | 1991-06-04 | 1993-08-13 | Schweiz Unfallversicherung | |
JP3141954B2 (ja) * | 1991-07-17 | 2001-03-07 | 株式会社ワコー | 圧電素子を用いた力・加速度・磁気のセンサ |
DE4129701C2 (de) * | 1991-09-06 | 1994-07-28 | Halil Ulusar Dr Akbay | Meßverfahren zur Messung von mechanischen Spannungen und Meßwertaufnehmer zur Durchführung des Verfahrens |
US5349263A (en) * | 1991-10-09 | 1994-09-20 | Mitsumi Electric Co., Ltd. | Pointing device suitable for miniaturization |
JP3027457B2 (ja) * | 1991-10-25 | 2000-04-04 | 和廣 岡田 | 多次元方向に関する力・加速度・磁気の検出装置 |
JPH05215627A (ja) * | 1992-02-04 | 1993-08-24 | Kazuhiro Okada | 多次元方向に関する力・加速度・磁気の検出装置 |
CH685648A5 (de) * | 1992-10-23 | 1995-08-31 | Kk Holding Ag | Mehrkomponenten-Kraft- und Moment-Messanordnung. |
US5760530A (en) * | 1992-12-22 | 1998-06-02 | The United States Of America As Represented By The Secretary Of The Air Force | Piezoelectric tactile sensor |
US6282956B1 (en) | 1994-12-29 | 2001-09-04 | Kazuhiro Okada | Multi-axial angular velocity sensor |
US5694013A (en) * | 1996-09-06 | 1997-12-02 | Ford Global Technologies, Inc. | Force feedback haptic interface for a three-dimensional CAD surface |
WO1998036241A1 (fr) * | 1997-02-17 | 1998-08-20 | Mitutoyo Corporation | Sonde d'injection de signaux tactiles non directionnels |
JPH10249768A (ja) * | 1997-03-12 | 1998-09-22 | Tokai Rubber Ind Ltd | 力センサー |
US6162007A (en) * | 1999-01-14 | 2000-12-19 | Witte; Stefan | Apparatus for feeding electronic component tape |
DE60043112D1 (de) | 1999-08-09 | 2009-11-19 | Sonavation Inc | Piezoelektrischer dünnschichtfingerabdruckabtaster |
US7067962B2 (en) | 2000-03-23 | 2006-06-27 | Cross Match Technologies, Inc. | Multiplexer for a piezo ceramic identification device |
US20030001459A1 (en) * | 2000-03-23 | 2003-01-02 | Cross Match Technologies, Inc. | Secure wireless sales transaction using print information to verify a purchaser's identity |
AU2001245936A1 (en) * | 2000-03-23 | 2001-10-03 | Cross Match Technologies, Inc. | Piezoelectric identification device and applications thereof |
JP3682525B2 (ja) * | 2001-06-07 | 2005-08-10 | 独立行政法人科学技術振興機構 | 二脚歩行式人型ロボット |
JP3479064B1 (ja) * | 2002-04-12 | 2003-12-15 | 北陸電気工業株式会社 | 半導体力センサ |
FR2849185B1 (fr) * | 2002-12-18 | 2005-04-29 | Ensam Ecole Nationale Superieu | Procede et dispositif de controle sensoriel de la surface exterieure d'un objet |
JP4313125B2 (ja) * | 2003-09-12 | 2009-08-12 | 本田技研工業株式会社 | ロボットハンド |
JP2006226858A (ja) * | 2005-02-18 | 2006-08-31 | Hiroshima Univ | 変動荷重センサ及びこれを用いた触覚センサ |
US8181540B2 (en) * | 2006-03-28 | 2012-05-22 | University Of Southern California | Measurement of sliding friction-induced vibrations for biomimetic tactile sensing |
US8272278B2 (en) | 2007-03-28 | 2012-09-25 | University Of Southern California | Enhancements to improve the function of a biomimetic tactile sensor |
JP4977825B2 (ja) * | 2007-05-09 | 2012-07-18 | 国立大学法人 東京大学 | 剪断力検出装置及び物体把持システム |
JP2010528267A (ja) * | 2007-05-18 | 2010-08-19 | ユニバーシティ オブ サザン カリフォルニア | グリップ制御のための生体模倣触覚センサ |
JP5396698B2 (ja) * | 2007-07-25 | 2014-01-22 | セイコーエプソン株式会社 | 圧力センサー |
US20090167567A1 (en) * | 2008-01-02 | 2009-07-02 | Israeli Aerospace Industries Ltd. | Method for avoiding collisions and a collision avoidance system |
JP5604035B2 (ja) * | 2008-07-18 | 2014-10-08 | 本田技研工業株式会社 | 力覚センサユニット |
FR2943129B1 (fr) | 2009-03-12 | 2011-09-30 | Commissariat Energie Atomique | Dispositif de caracterisation tactile de texture de surface |
JP5257896B2 (ja) * | 2009-05-22 | 2013-08-07 | 国立大学法人電気通信大学 | 滑り検出装置及び方法 |
JP5417454B2 (ja) * | 2009-10-14 | 2014-02-12 | 国立大学法人東北大学 | シート状触覚センサシステム |
US8938753B2 (en) | 2010-05-12 | 2015-01-20 | Litl Llc | Configurable computer system |
US9436219B2 (en) | 2010-05-12 | 2016-09-06 | Litl Llc | Remote control to operate computer system |
JP5688792B2 (ja) * | 2010-09-10 | 2015-03-25 | 国立大学法人弘前大学 | センサ装置および分布測定装置 |
JP5678669B2 (ja) * | 2011-01-06 | 2015-03-04 | セイコーエプソン株式会社 | 超音波センサー、触覚センサー、および把持装置 |
JP5678670B2 (ja) * | 2011-01-06 | 2015-03-04 | セイコーエプソン株式会社 | 超音波センサー、触覚センサー、および把持装置 |
JP2012198171A (ja) * | 2011-03-23 | 2012-10-18 | Seiko Epson Corp | 検出装置,電子機器およびロボット |
JP5633701B2 (ja) * | 2011-03-23 | 2014-12-03 | セイコーエプソン株式会社 | 検出装置,電子機器およびロボット |
WO2013060021A1 (en) * | 2011-10-28 | 2013-05-02 | Xi'an Jiaotong University | Flexible micro bumps operably coupled to array of nan-piezoelectric sensors |
TW201416652A (zh) * | 2012-10-18 | 2014-05-01 | Ind Tech Res Inst | 壓力感測裝置及應用其之夾持設備 |
US9625333B2 (en) | 2013-03-15 | 2017-04-18 | President And Fellows Of Harvard College | Tactile sensor |
JP2015087281A (ja) * | 2013-10-31 | 2015-05-07 | セイコーエプソン株式会社 | 力検出装置、ロボット、電子部品搬送装置、電子部品検査装置、および部品加工装置 |
JP5655925B2 (ja) * | 2013-12-24 | 2015-01-21 | セイコーエプソン株式会社 | 応力検出素子、触覚センサー、および把持装置 |
JP2014062918A (ja) * | 2013-12-25 | 2014-04-10 | Seiko Epson Corp | 応力検出素子、触覚センサー、および把持装置 |
JP6285259B2 (ja) * | 2014-01-14 | 2018-02-28 | Nissha株式会社 | 圧力センサ |
DE102014221294A1 (de) * | 2014-10-21 | 2016-04-21 | Robert Bosch Gmbh | Sensorvorrichtung, greifvorrichtung und herstellungsverfahren |
ITUB20160788A1 (it) * | 2016-02-16 | 2017-08-16 | St Microelectronics Srl | Unita' di rilevamento di pressione per sistemi di monitoraggio dello stato di integrita' strutturale |
US20190242768A1 (en) * | 2016-10-17 | 2019-08-08 | Kistler Holding Ag | Force and Moment Sensor, Force Transducer Module for Such a Force and Moment Sensor and Robot Comprising Such a Force and Moment Sensor |
US11680860B2 (en) * | 2016-11-24 | 2023-06-20 | The University Of Queensland | Compact load cells |
JP6794800B2 (ja) * | 2016-11-29 | 2020-12-02 | セイコーエプソン株式会社 | ロボット |
US10444090B2 (en) | 2017-05-15 | 2019-10-15 | Honeywell International Inc. | System and method for securing sense die in force sensor |
CN108072464B (zh) * | 2017-11-30 | 2019-10-29 | 东南大学 | 一种仿人手指端滑动触觉传感器 |
JP7193262B2 (ja) * | 2018-07-23 | 2022-12-20 | ミネベアミツミ株式会社 | 触覚センサ |
CN110108395B (zh) * | 2019-06-14 | 2024-01-16 | 清华大学深圳研究生院 | 一种触滑觉传感器及其制备方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH502590A (de) * | 1968-11-04 | 1971-01-31 | Kistler Instrumente Ag | Kraft- und/oder Momentenmessanordnung |
JPS4831598A (US06521211-20030218-C00004.png) * | 1971-08-25 | 1973-04-25 | ||
FR2211137A5 (US06521211-20030218-C00004.png) * | 1972-12-19 | 1974-07-12 | Sagem | |
US3904234A (en) * | 1973-10-15 | 1975-09-09 | Stanford Research Inst | Manipulator with electromechanical transducer means |
US4020686A (en) * | 1976-01-05 | 1977-05-03 | Lebow Associates, Inc. | Force measuring apparatus |
US4192005A (en) * | 1977-11-21 | 1980-03-04 | Kulite Semiconductor Products, Inc. | Compensated pressure transducer employing digital processing techniques |
US4347505A (en) * | 1979-01-29 | 1982-08-31 | Antroy Enterprises, Inc. | Device for controlling a circuit |
US4226125A (en) * | 1979-07-26 | 1980-10-07 | The Singer Company | Digital pressure sensor system with temperature compensation |
US4389711A (en) * | 1979-08-17 | 1983-06-21 | Hitachi, Ltd. | Touch sensitive tablet using force detection |
US4296406A (en) * | 1979-12-28 | 1981-10-20 | Sperry Corporation | Pressure sensitive switch structure |
US4328441A (en) * | 1980-01-31 | 1982-05-04 | Minnesota Mining And Manufacturing Company | Output circuit for piezoelectric polymer pressure sensor |
US4292673A (en) * | 1980-03-10 | 1981-09-29 | International Telephone And Telegraph Corporation | Viscosimeter |
JPS5719278U (US06521211-20030218-C00004.png) * | 1980-07-07 | 1982-02-01 | ||
US4399515A (en) * | 1981-03-31 | 1983-08-16 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Self-correcting electronically scanned pressure sensor |
JPS6117399Y2 (US06521211-20030218-C00004.png) * | 1981-04-10 | 1986-05-28 | ||
US4415781A (en) * | 1981-11-20 | 1983-11-15 | W. H. Brady Co. | Membrane switch |
US4554530A (en) * | 1981-12-21 | 1985-11-19 | At&T Bell Laboratories | Method and apparatus for scanning a matrix of switchable elements |
US4539554A (en) * | 1982-10-18 | 1985-09-03 | At&T Bell Laboratories | Analog integrated circuit pressure sensor |
US4588348A (en) * | 1983-05-27 | 1986-05-13 | At&T Bell Laboratories | Robotic system utilizing a tactile sensor array |
US4605354A (en) * | 1984-07-30 | 1986-08-12 | International Business Machines Corporation | Slip sensitive robot gripper system |
-
1983
- 1983-08-03 JP JP58141030A patent/JPS6034295A/ja active Granted
-
1984
- 1984-07-30 CA CA000459994A patent/CA1247717A/en not_active Expired
- 1984-07-31 US US06/636,296 patent/US4709342A/en not_active Expired - Lifetime
- 1984-08-02 DE DE8484109188T patent/DE3484082D1/de not_active Expired - Lifetime
- 1984-08-02 EP EP84109188A patent/EP0133997B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPH0448597B2 (US06521211-20030218-C00004.png) | 1992-08-07 |
EP0133997B1 (en) | 1991-02-06 |
EP0133997A3 (en) | 1986-03-26 |
DE3484082D1 (de) | 1991-03-14 |
EP0133997A2 (en) | 1985-03-13 |
JPS6034295A (ja) | 1985-02-21 |
US4709342A (en) | 1987-11-24 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
MKEX | Expiry |