DE102006016662A1 - Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires - Google Patents

Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires Download PDF

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Publication number
DE102006016662A1
DE102006016662A1 DE200610016662 DE102006016662A DE102006016662A1 DE 102006016662 A1 DE102006016662 A1 DE 102006016662A1 DE 200610016662 DE200610016662 DE 200610016662 DE 102006016662 A DE102006016662 A DE 102006016662A DE 102006016662 A1 DE102006016662 A1 DE 102006016662A1
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Prior art keywords
wires
resistance
surface sensor
electrical
tactile surface
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DE200610016662
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German (de)
Inventor
Patrick van der Prof. Smagt
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Deutsches Zentrum fuer Luft und Raumfahrt eV
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Deutsches Zentrum fuer Luft und Raumfahrt eV
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Priority to DE200610016662 priority Critical patent/DE102006016662A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • 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
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/047—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using sets of wires, e.g. crossed wires

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)

Abstract

The sensor has a resistor (12) made of an electrically resistive conducting material. Multiple electrical wires (21-25, 31-35) e.g. carbon fiber wire and metal wire, are provided in the resistor, where the wires are in electrical contact with the resistor and do not contact with each other. An evaluation module (40) has a resistance measuring module (42), which determines electrical resistance of the wires. The wires are arranged parallel to each other. The resistor is made of a mixture of carbon and/or graphite with silicone and/or thermoplastic.

Description

Die Erfindung bezieht sich auf einen taktilen Flächensensor zur Feststellung eines Tastortes und einer Tastkraft.The The invention relates to a tactile surface sensor for detection a Tastortes and a tactile force.

Unter taktilen Flächensensoren sind Sensoren zu verstehen, die, ähnlich der menschlichen Haut, in der Lage sind, Kräfte, Auslenkungen und Berührungen zu erfassen und zu quantifizieren. Taktile Flächensensoren werden insbesondere für Roboter benötigt und verwendet, insbesondere bei sog. Roboterhänden. Es wurde bereits eine Vielzahl verschiedener taktiler Flächensensoren entwickelt, die die in der Praxis wichtigen Ansprüche bzgl. ihrer Robustheit, Zuverlässigkeit, Genauigkeit und Auflösung jedoch nicht oder nur unzureichend erfüllen können.Under tactile surface sensors are sensors that, similar to human skin, are capable of forces, Deflections and touches to capture and quantify. Tactile area sensors become particular needed for robots and used, especially in so-called robotic hands. It already became one Variety of different tactile surface sensors developed that the important claims in practice regarding their robustness, reliability, Accuracy and resolution however not or insufficiently can.

Ein technischer Ansatz für einen taktilen Flächensensor ist die Verwendung piezoresistiver Materialien, die ihren Widerstand bei einer Druckänderung ändern. Taktile Flächensensoren auf piezoresistiver Basis existieren in verschiedenen Ausführungen. Ein wichtiger Vorteil des Flächensensors mit piezoresistivem Prinzip ist seine Unempfindlichkeit gegenüber Lichteinwirkung, elektrischen und magnetischen Störfeldern. Ein Beispiel ist ein Flächensensor, der aus einem flächigen Widerstandskörper besteht, dem bei Nichtbetätigung beabstandete Elektroden zugeordnet sind. Bei Druckausübung berühren die Elektroden den Widerstandskörper, so dass durch Widerstands-Ermittlungen der Tastort und die Tastfläche bestimmt werden können.One technical approach for a tactile surface sensor is the use of piezoresistive materials that reduce their resistance change at a pressure change. tactile area sensors on piezoresistive basis exist in different versions. An important advantage of the surface sensor with piezoresistive principle is its insensitivity to light, electrical and magnetic interference fields. An example is an area sensor, the one from a plane resistance body consists of that when not in operation are associated with spaced electrodes. When pressure is applied, the electrodes touch the resistance body, so determined by resistance investigations of the touch location and the touch area can be.

Aufgabe der Erfindung ist es demgegenüber, einen einfach aufgebauten taktilen Flächensensor zur Feststellung eines Tastortes, einer Tastkraft und einer Tastfläche zu schaffen.task the invention it is in contrast, a simply constructed tactile surface sensor for Establishment of a Tastortes, a tactile force and a tactile surface to create.

Diese Aufgabe wird erfindungsgemäß gelöst mit den Merkmalen des Patentanspruchs 1.These The object is achieved with the Features of claim 1.

Der erfindungsgemäße taktile Flächensensor weist einen elastischen flächigen Widerstandkörper aus einem elektrisch resistiv leistenden Material auf. In dem Widerstandskörper sind mehrere sich kreuzende elektrische Leitungen angeordnet, die mit dem Widerstandskörper in elektrischem Kontakt stehen, sich jedoch nicht berühren. Wird an einer Stelle Druck auf den elastischen Widerstandskörper ausgeübt, ändert sich sein spezifischer Widerstand an diesem Ort. Hierdurch ändert sich auch der elektrische Widerstand zwischen zwei sich an diesem Ort kreuzenden elektrischen Leitungen, sowie an den umliegenden Leitungen. Durch ständige Messung aller elektrischen Widerstände an allen Leitungskreuzungen kann auf relativ einfache Weise der Tastort, die Tastfläche und, über die Federkonstante des Widerstandskörper-Materials, auch die Tastkraft ermittelt werden. Die Herstellung und der Aufbau des Widerstandskörpers mit den elektrischen Leitungen ist relativ einfach. An die Genauigkeit der Leitungsverlegung in dem Widerstandskörper müssen bei der Herstellung keine extremen Anforderungen gestellt werden, da der Flächensensor problemlos vor Erstinbetriebnahme kalibriert werden kann.Of the tactile according to the invention area sensor has an elastic flat resistance body made of an electrically resistive material. In the resistor body are a plurality of intersecting electrical lines arranged with the resistance body be in electrical contact, but do not touch each other. Becomes Pressure exerted on the elastic resistance body at one point changes its specific resistance in this place. This changes also the electrical resistance between two in this place crossing electrical lines, as well as on the surrounding lines. Through constant Measurement of all electrical resistances at all line intersections can in a relatively simple way the tactile, the touch surface and, on the Spring constant of the resistor body material, also the Tastkraft be determined. The manufacture and construction of the resistor body with the electrical wiring is relatively easy. To the accuracy The wiring in the resistor body in the production no extreme demands are made because of the area sensor can be easily calibrated before initial startup.

Vorzugsweise sind die elektrischen Leitungen in den Widerstandskörper eingegossen. Hierdurch sind sie geschützt gegen mechanische Einwirkungen von außen. Der Abstand der Leitungen an den Kreuzungspunkten sollte möglichst groß sein, um eine möglichst große Differenzierung des an der Kreuzung ermittelten elektrischen Widerstandes zu ermöglichen. Andererseits sollte der Abstand der sich kreuzenden Leitungen nicht zu groß sein, um, insbesondere beim Verbiegen des gesamten Widerstandskörpers, zu hohe Zugspannungen in den Leitungen zu vermeiden.Preferably the electrical wires are cast in the resistor body. This protects you against mechanical influences from outside. The distance of the lines should at the intersections as possible be great to one possible size Differentiation of the electrical resistance determined at the intersection to enable. On the other hand, the distance of the intersecting lines should not be too big to, especially when bending the entire resistance body to high tensile stresses in the lines to avoid.

Vorzugsweise sind die Leitungen in zwei Ebenen angeordnet, wobei die Leitungen einer Ebene jeweils alle parallel zueinander liegen. Es ist auch möglich, mehrere Schichten mit Leitungen vorzusehen, um eine bessere Differenzierung der Kontakte zu ermöglichen. Die Leitungen der beiden Ebenen kreuzen sich jeweils annähernd rechtwinklig. Eine derartige Anordnung der Leitungen in dem Widerstandskörper ist relativ einfach herstellbar.Preferably the lines are arranged in two levels, with the lines each level is parallel to each other. It is also possible to have several Layers with lines provide better differentiation to enable the contacts. The lines of the two levels intersect each other approximately at right angles. Such an arrangement of the leads in the resistor body is relatively easy to produce.

In einer bevorzugten Gestaltung besteht der Widerstandskörper aus einer Mischung aus Russ und/oder Graphit mit Silikon und/oder Thermoplast. Der Russ bzw. das Graphit sind homogen in dem Widerstandskörper verteilt und definieren den spezifischen Widerstand des Widerstandskörpers. Das Silikon bzw. das Thermoplast bilden die elastische Grundsubstanz des Widerstandskörpers.In In a preferred embodiment, the resistor body is made a mixture of carbon black and / or graphite with silicone and / or thermoplastic. Of the Russ or the graphite are homogeneously distributed in the resistance body and define the resistivity of the resistor body. The Silicone or the thermoplastic form the elastic base substance of the resistance body.

Gemäß einer bevorzugten Ausgestaltung sind die Leitungen Metalldrähte oder Kohlefaserdrähte. Die Metalldrähte weisen einen niedrigen elektrischen Widerstand und hohe mechanische Festigkeit, insbesondere hohe Zugfestigkeit auf. Dadurch werden Leitungsunterbrechungen vermieden und die Zuverlässigkeit und Genauigkeit des Flächensensors über lange Zeit erhalten.According to one preferred embodiment, the lines are metal wires or Carbon fiber wires. The metal wires have low electrical resistance and high mechanical resistance Strength, in particular high tensile strength. This will be Line breaks avoided and the reliability and accuracy of the Area sensor over a long time Receive time.

Vorzugsweise ist ein Auswertemodul vorgesehen, das ein Widerstands-Meßmodul aufweist, das den elektrischen Widerstand aller Leitungs-Kreuzungen einzeln ermitteln kann. Die Leitungs-Kreuzungen werden in einer bestimmten Tastfrequenz jeweils einzeln bzgl. des elektrischen Widerstands der beiden sich kreuzenden Leitungen zueinander vermessen. Auf diese Weise regelmäßig, ein Widerstandsbild des gesamten Flächensensors ermittelt.Preferably an evaluation module is provided, which has a resistance measuring module, which can determine the electrical resistance of all line junctions individually. The Line intersections are in a specific sampling frequency respectively individually with respect to the electrical resistance of the two intersecting Measure lines to each other. In this way regularly, one Resistance image of the entire area sensor determined.

Gemäß einer bevorzugten Ausgestaltung der Erfindung ist der taktile Flächensensor Teil einer Roboterhand.According to a preferred embodiment of the invention, the tactile surface sensor is part of a Robot hand.

Im Folgenden wird unter Bezugnahme auf die Zeichnung ein Ausführungsbeispiel der Erfindung näher erläutert.in the The following will be an embodiment with reference to the drawings closer to the invention explained.

In der Figur ist ein taktiler Flächensensor 10 dargestellt, der aus einem elastischen Widerstandskörper 12 aus einem elektrisch resistiv leitenden Material, aus mehreren sich kreuzenden elektrischen Leitungen 21–25, 31–35 sowie einem Auswertemodul 40 besteht.In the figure is a tactile surface sensor 10 shown, which consists of an elastic resistance body 12 made of an electrically resistive conductive material, of several intersecting electrical lines 21 - 25 . 31 - 35 as well as an evaluation module 40 consists.

Der Widerstandskörper 12 besteht aus einem Thermoplast, in dem homogen verteilt Graphit eingelagert ist. Der Widerstandskörper 12 weist hierdurch einen über sein gesamtes Volumen konstanten spezifischen elektrischen Widerstand auf.The resistance body 12 consists of a thermoplastic in which homogeneously distributed graphite is embedded. The resistance body 12 As a result, it has a constant electrical resistivity over its entire volume.

Die elektrischen Leitungen 21–25, 31–35 sind in zwei Ebenen in dem flächigen Widerstandskörper 12 verlegt. Die elektrischen Leitungen 21–25, 31–35 einer Ebene sind jeweils alle parallel zueinander angeordnet. Die elektrischen Leitungen 21–25, 31–35 der beiden Ebenen kreuzen sich annähernd senkrecht und bilden auf diese Weise Kreuzungen miteinander aus. Die Leitungen 21–25, 31–35 bestehen jeweils aus Metalldrähten.The electrical wires 21 - 25 . 31 - 35 are in two planes in the planar resistance body 12 laid. The electrical wires 21 - 25 . 31 - 35 Each level is arranged parallel to each other. The electrical wires 21 - 25 . 31 - 35 The two planes intersect approximately perpendicularly and thus form intersections with each other. The wires 21 - 25 . 31 - 35 each consist of metal wires.

Das Auswertemodul 40 weist ein Widerstandsmessmodul 42 auf, das den elektrischen Widerstand aller Leitungskreuzungen einzeln ermittelt. Hierzu wird an die beiden Leitungen der betreffenden Leitungs-Kreuzung eine Spannung angelegt, der zwischen diesen Leitungen fließende Strom gemessen und auf diese Weise der Widerstand zwischen den beiden sich kreuzenden Leitungen ermittelt. Auf diese Weise werden die Widerstände aller Leitungskreuzungen ermittelt. Hieraus ergibt sich ein Widerstandsbild für die gesamte Fläche des Flächensensors.The evaluation module 40 has a resistance measuring module 42 on, which determines the electrical resistance of each line intersections individually. For this purpose, a voltage is applied to the two lines of the respective line crossing, the current flowing between these lines measured and determined in this way the resistance between the two intersecting lines. In this way, the resistances of all line crossings are determined. This results in a resistance image for the entire surface of the surface sensor.

Nach einer Anlernphase zur Programmierung des Auswertemodules 40 kann mit Hilfe des Widerstandsbildes ein Tastort, eine Tastkaft und eine Tastfläche ermittelt werden.After a learning phase for programming the evaluation module 40 can be determined using the resistance image, a Tastort, a Tastkaft and a touch surface.

Claims (9)

Taktiler Flächensensor (10) zur Feststellung eines Tastortes und einer Tastkraft, mit einem elastischen Widerstandskörper (12) aus einem elektrisch resistiv leitenden Material, und mehreren sich kreuzenden elektrisch Leitungen (21–25, 31–35) in oder an dem Widerstandskörper (12), die mit dem Widerstandskörper (12) in elektrischem Kontakt stehen und sich nicht berühren.Tactile surface sensor ( 10 ) for determining a Tastortes and a tactile force, with an elastic resistance body ( 12 ) made of an electrically resistively conductive material, and a plurality of intersecting electrical lines ( 21 - 25 . 31 - 35 ) in or on the resistor body ( 12 ) connected to the resistance body ( 12 ) are in electrical contact and do not touch each other. Taktiler Flächensensor (10) nach Anspruch 1, dadurch gekennzeichnet, dass die Leitungen (21–25, 31–35) in den Widerstandskörper (12) eingegossen sind.Tactile surface sensor ( 10 ) according to claim 1, characterized in that the lines ( 21 - 25 . 31 - 35 ) in the resistance body ( 12 ) are poured. Taktiler Flächensensor (10) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Leitungen (21–25, 31–35) jeweils in zwei Ebenen parallel zueinander angeordnet sind, wobei sich die Leitungen (21-25, 31–35) der beiden Ebenen jeweils rechtwinklig kreuzen.Tactile surface sensor ( 10 ) according to claim 1 or 2, characterized in that the lines ( 21 - 25 . 31 - 35 ) are each arranged in two planes parallel to each other, wherein the lines ( 21-25 . 31 - 35 ) of the two planes at right angles. Taktiler Flächensensor (10) nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Leitungen in drei oder mehr Ebenen angeordnet sind, wobei sich die Leitungen der Ebenen kreuzen.Tactile surface sensor ( 10 ) according to one of claims 1 or 2, characterized in that the lines are arranged in three or more planes, wherein the lines of the planes intersect. Taktiler Flächensensor (10) nach einem der Ansprüche 1–4, dadurch gekennzeichnet, dass der Widerstandskörper (12) aus einer Mischung aus Ruß und/oder Graphit mit Silikon und/oder Thermoplast besteht.Tactile surface sensor ( 10 ) according to one of claims 1-4, characterized in that the resistance body ( 12 ) consists of a mixture of carbon black and / or graphite with silicone and / or thermoplastic. Taktiler Flächensensor (10) nach einem der Ansprüche 1–5, dadurch gekennzeichnet, dass die elektrischen Leitungen (21–25, 31–35) Metalldrähte oder Kohlefaserdrähte sind.Tactile surface sensor ( 10 ) according to any one of claims 1-5, characterized in that the electrical lines ( 21 - 25 . 31 - 35 ) Metal wires or carbon fiber wires are. Taktiler Flächensensor (10) nach einem der Ansprüche 1–6, dadurch gekennzeichnet, dass ein Auswertemodul (40) vorgesehen ist, das ein Widerstandsmessmodul (42) aufweist, das den elektrischen Widerstand aller Leitungs-Kreuzungen einzeln ermittelt.Tactile surface sensor ( 10 ) according to any one of claims 1-6, characterized in that an evaluation module ( 40 ) is provided, which is a resistance measuring module ( 42 ), which determines the electrical resistance of each line intersections individually. Roboterhand mit einem taktilen Flächensensor (10) nach Anspruch 1.Robotic hand with a tactile surface sensor ( 10 ) according to claim 1. Roboterhand nach Anspruch 8 mit den Merkmalen eines der Ansprüche 2–7. Robotic hand according to claim 8 with the features of the claims 2-7.
DE200610016662 2006-04-08 2006-04-08 Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires Withdrawn DE102006016662A1 (en)

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DE200610016662 DE102006016662A1 (en) 2006-04-08 2006-04-08 Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires

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DE200610016662 DE102006016662A1 (en) 2006-04-08 2006-04-08 Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
DE102011010409A1 (en) 2011-02-04 2012-08-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Artificial skin element for robot i.e. robot hand, has elastically-deformable distance pieces arranged between lower and outer layers, and cooling medium-flow path formed between supply pipe and discharge pipe in flow volume
DE102017218229A1 (en) * 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Protective device for an industrial robot and protective element for such a protective device

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DE3011266A1 (en) * 1980-03-24 1981-10-01 Battelle-Institut E.V., 6000 Frankfurt Measurement mat for laminar pressure distributions - has transverse and longitudinal conductors on either side forming electrodes
DE3231411A1 (en) * 1982-08-24 1984-03-01 Siemens Ag Touch-sensitive graphics table for a computer graphics system
US4503416A (en) * 1982-12-13 1985-03-05 General Electric Company Graphite fiber tactile sensor
DE3822477A1 (en) * 1988-07-02 1990-01-04 Telefonbau & Normalzeit Gmbh Tactile display device for the simultaneous digital transmission of manually produced characters from a transmitter to a receiver
WO1997009153A1 (en) * 1995-09-08 1997-03-13 Ross-Hime Designs, Inc. Robotic manipulator

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Publication number Priority date Publication date Assignee Title
US4208648A (en) * 1977-08-18 1980-06-17 Fichtel & Sachs Ag Sensor panel for locating a load
DE3011266A1 (en) * 1980-03-24 1981-10-01 Battelle-Institut E.V., 6000 Frankfurt Measurement mat for laminar pressure distributions - has transverse and longitudinal conductors on either side forming electrodes
DE3231411A1 (en) * 1982-08-24 1984-03-01 Siemens Ag Touch-sensitive graphics table for a computer graphics system
US4503416A (en) * 1982-12-13 1985-03-05 General Electric Company Graphite fiber tactile sensor
DE3822477A1 (en) * 1988-07-02 1990-01-04 Telefonbau & Normalzeit Gmbh Tactile display device for the simultaneous digital transmission of manually produced characters from a transmitter to a receiver
WO1997009153A1 (en) * 1995-09-08 1997-03-13 Ross-Hime Designs, Inc. Robotic manipulator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011010409A1 (en) 2011-02-04 2012-08-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Artificial skin element for robot i.e. robot hand, has elastically-deformable distance pieces arranged between lower and outer layers, and cooling medium-flow path formed between supply pipe and discharge pipe in flow volume
DE102011010409B4 (en) * 2011-02-04 2014-04-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. Artificial skin element
DE102017218229A1 (en) * 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Protective device for an industrial robot and protective element for such a protective device

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