DE3574498D1 - Druckempfindliches kontrollsystem. - Google Patents

Druckempfindliches kontrollsystem.

Info

Publication number
DE3574498D1
DE3574498D1 DE8585302539T DE3574498T DE3574498D1 DE 3574498 D1 DE3574498 D1 DE 3574498D1 DE 8585302539 T DE8585302539 T DE 8585302539T DE 3574498 T DE3574498 T DE 3574498T DE 3574498 D1 DE3574498 D1 DE 3574498D1
Authority
DE
Germany
Prior art keywords
control system
pressure sensitive
sensitive control
pressure
sensitive
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 - Lifetime
Application number
DE8585302539T
Other languages
German (de)
English (en)
Inventor
Shinobu Sagisawa
Mitsuo Kobayashi
Teizo Takahama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Electric Co Ltd
Original Assignee
Fuji Electric Corporate Research and Development Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fuji Electric Corporate Research and Development Ltd filed Critical Fuji Electric Corporate Research and Development Ltd
Application granted granted Critical
Publication of DE3574498D1 publication Critical patent/DE3574498D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • 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
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • 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)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
DE8585302539T 1984-04-13 1985-04-11 Druckempfindliches kontrollsystem. Expired - Lifetime DE3574498D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59075250A JPS60221288A (ja) 1984-04-13 1984-04-13 圧覚認識制御装置

Publications (1)

Publication Number Publication Date
DE3574498D1 true DE3574498D1 (de) 1990-01-04

Family

ID=13570786

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8585302539T Expired - Lifetime DE3574498D1 (de) 1984-04-13 1985-04-11 Druckempfindliches kontrollsystem.

Country Status (4)

Country Link
US (1) US4695963A (OSRAM)
EP (1) EP0162565B1 (OSRAM)
JP (1) JPS60221288A (OSRAM)
DE (1) DE3574498D1 (OSRAM)

Families Citing this family (83)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61284389A (ja) * 1985-06-10 1986-12-15 工業技術院長 圧覚センサ
JPS61284390A (ja) * 1985-06-11 1986-12-15 工業技術院長 触覚センサ
JPH0640036B2 (ja) * 1985-09-24 1994-05-25 工業技術院長 圧覚センサ出力信号前処理装置
DE3642088A1 (de) * 1986-12-10 1988-06-23 Wolfgang Brunner Anordnung zur messung von kraftverteilungen
JPH0663882B2 (ja) * 1986-12-19 1994-08-22 工業技術院長 圧覚センサ出力信号前処理装置
US4839512A (en) * 1987-01-27 1989-06-13 Tactilitics, Inc. Tactile sensing method and apparatus having grids as a means to detect a physical parameter
JPS63166390U (OSRAM) * 1987-04-15 1988-10-28
WO1989002587A1 (fr) * 1987-09-18 1989-03-23 Kazuhiro Okada Dispositif de detection de force utilisant un element resistant et son application
US4951985A (en) * 1988-11-01 1990-08-28 Transitions Research Corporation Bumper for impact detection
FR2658602B1 (fr) * 1990-02-21 1994-01-28 Joel Moreau Dispositif de commande manuelle pour machines de mesure tridimensionnelle a deplacements motorises.
JP3131642B2 (ja) * 1994-09-14 2001-02-05 日本電子工業株式会社 応力複合化センサ及びこれを用いた構造体の応力測定装置
US5505072A (en) * 1994-11-15 1996-04-09 Tekscan, Inc. Scanning circuit for pressure responsive array
US6126373A (en) * 1997-12-19 2000-10-03 Fanuc Usa Corporation Method and apparatus for realtime remote robotics command
EP0970657B1 (en) * 1998-07-10 2004-06-09 RSscan Apparatus and method for measuring the pressure distribution generated by a three-dimensional object
US6253626B1 (en) * 1999-09-02 2001-07-03 Rs Technologies, Ltd. Three-axis transducer body and strain gage arrangement therefor
JP3574951B2 (ja) * 2001-12-19 2004-10-06 独立行政法人 科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置及び歩行制御方法
US6823744B2 (en) * 2002-01-11 2004-11-30 Honda Giken Kogyo Kabushiki Kaisha Six-axis force sensor
JP4109456B2 (ja) * 2002-01-18 2008-07-02 独立行政法人産業技術総合研究所 低剛性力検出装置
US7434459B2 (en) * 2002-09-30 2008-10-14 Sap Aktiengesellschaft Context acquisition based on load sensing
KR100499143B1 (ko) * 2003-02-27 2005-07-04 삼성전자주식회사 보행 로봇의 지면 반력 측정 모듈 및 이를 장착한 로봇 발구조물
US7379789B2 (en) * 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
JP2005106800A (ja) * 2003-09-09 2005-04-21 Matsushita Electric Ind Co Ltd 歪検出装置
US6964205B2 (en) * 2003-12-30 2005-11-15 Tekscan Incorporated Sensor with plurality of sensor elements arranged with respect to a substrate
US6993954B1 (en) * 2004-07-27 2006-02-07 Tekscan, Incorporated Sensor equilibration and calibration system and method
US8677802B2 (en) * 2006-02-04 2014-03-25 Evigia Systems, Inc. Sensing modules and methods of using
DE102006006246A1 (de) * 2006-02-10 2007-08-16 Battenberg, Günther Verfahren und Vorrichtung zur vollautomatischen Endkontrolle von Bauteilen und/oder deren Funktionseinheiten
DE602007002914D1 (de) * 2006-05-30 2009-12-03 Timken Co Sensor für verschiebung, dehnung und kraft
US8271138B2 (en) * 2007-09-12 2012-09-18 Intelligent Hospital Systems Ltd. Gripper device
ES2342643B1 (es) * 2008-02-07 2011-04-08 Micelect, S.L. Sensor-amortiguador de cargas.
US7987716B2 (en) * 2008-03-26 2011-08-02 Endevco Corporation Coupled pivoted acceleration sensors
WO2011084229A2 (en) 2009-12-17 2011-07-14 Arizona Board Of Regents, For And On Behalf Of Arizona State University Embedded mems sensors and related methods
WO2010110827A1 (en) * 2009-01-27 2010-09-30 Arizona Board Of Regents, For And On Behalf Of Arizona State University Displays with embedded mems sensors and related methods
JP4793461B2 (ja) * 2009-03-11 2011-10-12 株式会社デンソー 荷重検出装置の製造方法
US9158369B2 (en) 2010-10-12 2015-10-13 Tactonic Technologies, Llc Sensors having a connecting frame and method for composite sensors
JP5836633B2 (ja) * 2011-05-10 2015-12-24 キヤノン株式会社 力覚センサ及び組立ロボット
JP5845012B2 (ja) * 2011-07-12 2016-01-20 新日鐵住金株式会社 衝撃荷重測定用荷重計測装置及び衝突荷重計測方法
WO2013130990A1 (en) * 2012-03-01 2013-09-06 Wiley Robert G Load flexure assembly
DE112013002288T5 (de) 2012-05-03 2015-04-16 Apple Inc. Momentkompensierter Biegebalkensensor zur Lastmessung auf einer Biegebalken-gestützten Plattform
US8996174B2 (en) 2012-06-21 2015-03-31 Rethink Robotics, Inc. User interfaces for robot training
JP5938799B2 (ja) * 2012-09-14 2016-06-22 株式会社向洋技研 スポット溶接品質監視方法及び監視装置
JP5660401B2 (ja) 2012-11-19 2015-01-28 株式会社安川電機 ロボット装置
US9983715B2 (en) 2012-12-17 2018-05-29 Apple Inc. Force detection in touch devices using piezoelectric sensors
US11131980B2 (en) 2013-02-20 2021-09-28 Cricut, Inc. Electronic cutting machine
WO2014149023A1 (en) 2013-03-15 2014-09-25 Rinand Solutions Llc Force sensing of inputs through strain analysis
US20140277588A1 (en) * 2013-03-15 2014-09-18 Eli Robert Patt System and method for providing a prosthetic device with non-tactile sensory feedback
US10120478B2 (en) 2013-10-28 2018-11-06 Apple Inc. Piezo based force sensing
AU2015100011B4 (en) 2014-01-13 2015-07-16 Apple Inc. Temperature compensating transparent force sensor
US12024412B2 (en) 2014-10-30 2024-07-02 Cascade Corporation Pivoting load-bearing assembly with force sensor
DE102015104410B4 (de) * 2015-03-24 2018-09-13 Tdk-Micronas Gmbh Drucksensor
US9612170B2 (en) 2015-07-21 2017-04-04 Apple Inc. Transparent strain sensors in an electronic device
US10055048B2 (en) 2015-07-31 2018-08-21 Apple Inc. Noise adaptive force touch
US9874965B2 (en) 2015-09-11 2018-01-23 Apple Inc. Transparent strain sensors in an electronic device
US9886118B2 (en) 2015-09-30 2018-02-06 Apple Inc. Transparent force sensitive structures in an electronic device
JP6641919B2 (ja) * 2015-11-20 2020-02-05 マックス株式会社 工具
TWI595988B (zh) * 2015-12-29 2017-08-21 Hiwin Tech Corp Robot safety guard
US10222278B2 (en) * 2016-02-25 2019-03-05 Massachusetts Institute Of Technology Directional force sensing element and system
US10006820B2 (en) * 2016-03-08 2018-06-26 Apple Inc. Magnetic interference avoidance in resistive sensors
US10209830B2 (en) 2016-03-31 2019-02-19 Apple Inc. Electronic device having direction-dependent strain elements
US10133418B2 (en) 2016-09-07 2018-11-20 Apple Inc. Force sensing in an electronic device using a single layer of strain-sensitive structures
GB201617097D0 (en) 2016-10-07 2016-11-23 King S College London Multi-Axis force sensor
US10864568B2 (en) * 2016-11-15 2020-12-15 Pride Engineering, Llc Tool pack assembly
JP6869710B2 (ja) * 2016-12-09 2021-05-12 日本電産コパル電子株式会社 起歪体およびその起歪体を備えた力覚センサ
DE102017102343B4 (de) * 2017-02-07 2022-04-28 Wittenstein Se Sensoranordnung zur Kraft- oder Drehmomentmessung und ein Verfahren zur Herstellung derselben
US10444091B2 (en) 2017-04-11 2019-10-15 Apple Inc. Row column architecture for strain sensing
US10309846B2 (en) 2017-07-24 2019-06-04 Apple Inc. Magnetic field cancellation for strain sensors
US20190291224A1 (en) * 2018-03-22 2019-09-26 Ford Motor Company Workpiece alignment system having pressure sensors for assessing alignment of a workpiece with a fixture
US10782818B2 (en) 2018-08-29 2020-09-22 Apple Inc. Load cell array for detection of force input to an electronic device enclosure
US11638353B2 (en) 2018-09-17 2023-04-25 Hutchinson Technology Incorporated Apparatus and method for forming sensors with integrated electrical circuits on a substrate
US10725840B2 (en) 2018-11-13 2020-07-28 American Express Travel Related Services Company, Inc. Automated web service and API build configuration framework
CN109900414B (zh) * 2019-03-28 2024-02-23 中国工程物理研究院总体工程研究所 弯矩传感器
US12426981B2 (en) * 2019-10-04 2025-09-30 National University Corporation Kagawa University Grip tool, grip system, slip detection device, slip detection program, and slip detection method
US20230003591A1 (en) * 2019-12-06 2023-01-05 Sony Group Corporation Force sensor module
JP7740248B2 (ja) * 2020-08-20 2025-09-17 ソニーグループ株式会社 情報処理装置、情報処理方法、およびプログラム
JP7554413B2 (ja) * 2020-12-11 2024-09-20 香川県 滑り検出装置、把持機構および搬送装置
EP4247749B1 (en) * 2020-12-29 2025-10-01 Cascade Corporation Pivoting load-bearing assembly with force sensor
WO2022196099A1 (ja) * 2021-03-17 2022-09-22 ソニーグループ株式会社 センサ装置およびロボット装置
JP7695005B2 (ja) 2021-03-31 2025-06-18 ＴＥ Ｃｏｎｎｅｃｔｉｖｉｔｙ Ｊａｐａｎ合同会社 コンタクト積層体、コネクタおよびコンタクト組付体
CN113837008A (zh) * 2021-08-24 2021-12-24 中国科学院深圳先进技术研究院 硬度识别方法、装置、电子设备及存储介质
CN113733149B (zh) * 2021-09-02 2024-03-19 浙江大学 一种感知水果硬度的软指机械手及检测方法
CN114211513B (zh) * 2022-01-19 2023-08-25 扬州市职业大学(扬州开放大学) 一种带有操作机械手的工业机器人及其控制方法
JP2023109577A (ja) * 2022-01-27 2023-08-08 株式会社タニタ 重量測定装置及び体組成計
CN115308452B (zh) * 2022-10-10 2023-02-28 杭州三海电子有限公司 一种半导体器件老炼测试夹具
CN119880227A (zh) * 2025-03-31 2025-04-25 深圳市鑫精诚传感技术有限公司 一种传感器模组

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3270554A (en) * 1961-01-04 1966-09-06 Bell Telephone Labor Inc Diffused layer transducers
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means
JPS4822673B1 (OSRAM) * 1969-11-13 1973-07-07
US3952880A (en) * 1973-10-15 1976-04-27 Stanford Research Institute Force and torque sensing method and means for manipulators and the like
US3948093A (en) * 1975-06-30 1976-04-06 International Business Machines Corporation Six degree of freedom force transducer for a manipulator system
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
FR2411603A2 (fr) * 1977-12-19 1979-07-13 Zarudiansky Alain Dispositif et procede d'enregistrement de restitution et de synthese de sensations tactiles
JPS5789588A (en) * 1980-11-17 1982-06-03 Fujitsu Ltd Tactile sensor
US4471369A (en) * 1981-08-17 1984-09-11 General Electric Company Robotic pressure imagers
US4521685A (en) * 1982-03-01 1985-06-04 Lord Corporation Tactile sensor for an industrial robot or the like
US4478089A (en) * 1982-06-29 1984-10-23 International Business Machines Corporation Tri-axial force transducer for a manipulator gripper
EP0117334A3 (en) * 1982-11-09 1986-01-15 EMI Limited Arrangement for sensing several components of force
US4488441A (en) * 1983-04-15 1984-12-18 Jr3, Inc. Apparatus for simultaneous measurement of mutually perpendicular forces and moments
US4526043A (en) * 1983-05-23 1985-07-02 At&T Bell Laboratories Conformable tactile sensor
US4588348A (en) * 1983-05-27 1986-05-13 At&T Bell Laboratories Robotic system utilizing a tactile sensor array
US4483203A (en) * 1983-06-02 1984-11-20 Amp Incorporated Multi-axis force transducer
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor

Also Published As

Publication number Publication date
JPH0411346B2 (OSRAM) 1992-02-28
EP0162565A2 (en) 1985-11-27
US4695963A (en) 1987-09-22
EP0162565A3 (en) 1986-10-15
EP0162565B1 (en) 1989-11-29
JPS60221288A (ja) 1985-11-05

Similar Documents

Publication Publication Date Title
DE3574498D1 (de) Druckempfindliches kontrollsystem.
DE3584450D1 (de) Druckempfindliches infusionssystem.
FI852094A7 (fi) Ohjausjärjestelmä.
DE3481285D1 (de) Kraftkontrollsystem.
DE3587302D1 (de) Anzeigesteuersystem.
DE3579291D1 (de) Servomotorregelungssystem.
DE3673023D1 (de) Steuerungssystem.
DE3669962D1 (de) Steuerungssystem.
DE3669380D1 (de) Ventilsteuerungssystem.
DE3688789D1 (de) Numerisches steuersystem.
DE3750676D1 (de) Bremsdrucksteuersystem.
DE3586318D1 (de) Numerisches steuerungssystem.
DE3586238D1 (de) Druckmesssystem.
DE3584671D1 (de) Numerisches regelsystem.
DE3583311D1 (de) Antiblockierregelsystem.
NO850385L (no) Styreventil
DE3580908D1 (de) Tiefdrucksystem.
DE3576226D1 (de) Fernsteuersystem.
DE3689497D1 (de) Druckregelvorrichtung.
NO161698C (no) Kodet fluidstyresystem.
DE3579752D1 (de) Zentrales reifendruckregelsystem.
DE3586711D1 (de) Bildgestaltungssteuerungssystem.
DE3483393D1 (de) Steuervorrichtung.
DE3586310D1 (de) Numerisches steuersystem.
DE3585893D1 (de) Numerisches steuersystem.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee