FR2583936B1 - Detecteur tactile utilisant des ondes acoustiques de surface en particulier pour robot - Google Patents

Detecteur tactile utilisant des ondes acoustiques de surface en particulier pour robot

Info

Publication number
FR2583936B1
FR2583936B1 FR868609091A FR8609091A FR2583936B1 FR 2583936 B1 FR2583936 B1 FR 2583936B1 FR 868609091 A FR868609091 A FR 868609091A FR 8609091 A FR8609091 A FR 8609091A FR 2583936 B1 FR2583936 B1 FR 2583936B1
Authority
FR
France
Prior art keywords
robot
touch sensor
surface acoustic
acoustic waves
waves
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
Application number
FR868609091A
Other languages
English (en)
Other versions
FR2583936A1 (fr
Inventor
Jan Capek
Miloslav Nevesely
Milan Lansky
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.)
Vysoka Skola Dopravy a Spojov
Original Assignee
Vysoka Skola Dopravy a Spojov
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 Vysoka Skola Dopravy a Spojov filed Critical Vysoka Skola Dopravy a Spojov
Publication of FR2583936A1 publication Critical patent/FR2583936A1/fr
Application granted granted Critical
Publication of FR2583936B1 publication Critical patent/FR2583936B1/fr
Expired legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
    • G01L1/162—Measuring force or stress, in general using properties of piezoelectric devices using piezoelectric resonators
    • G01L1/165—Measuring force or stress, in general using properties of piezoelectric devices using piezoelectric resonators with acoustic surface waves
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/36—Devices for manipulating acoustic surface waves

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Measuring Fluid Pressure (AREA)
FR868609091A 1985-06-24 1986-06-24 Detecteur tactile utilisant des ondes acoustiques de surface en particulier pour robot Expired FR2583936B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CS854623A CS267053B1 (en) 1985-06-24 1985-06-24 Palpable sensing element for robot

Publications (2)

Publication Number Publication Date
FR2583936A1 FR2583936A1 (fr) 1986-12-26
FR2583936B1 true FR2583936B1 (fr) 1989-12-15

Family

ID=5389438

Family Applications (1)

Application Number Title Priority Date Filing Date
FR868609091A Expired FR2583936B1 (fr) 1985-06-24 1986-06-24 Detecteur tactile utilisant des ondes acoustiques de surface en particulier pour robot

Country Status (6)

Country Link
US (1) US4775961A (fr)
JP (1) JPS6255535A (fr)
CS (1) CS267053B1 (fr)
DE (1) DE3621037A1 (fr)
FR (1) FR2583936B1 (fr)
SE (1) SE460153B (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4242936A1 (de) * 1992-12-18 1994-06-23 Beckhausen Karlheinz Sicherheitseinrichtung mit Mikroprozessor
US5656785A (en) * 1995-08-07 1997-08-12 The Charles Stark Draper Laboratory, Inc. Micromechanical contact load force sensor for sensing magnitude and distribution of loads and tool employing micromechanical contact load force sensor
US5679998A (en) * 1996-08-09 1997-10-21 Toda; Kohji Elastic wave position-sensing device
JP4214551B2 (ja) * 2000-04-21 2009-01-28 耕司 戸田 超音波音圧センサ
JP3841685B2 (ja) * 2000-05-22 2006-11-01 富士通株式会社 タッチパネル装置
JP4495948B2 (ja) * 2003-11-12 2010-07-07 凸版印刷株式会社 弾性表面波素子アレイ
WO2009155501A2 (fr) 2008-06-19 2009-12-23 Massachusetts Institute Of Technology Capteur tactile utilisant l'imagerie élastomère
KR20140041890A (ko) 2011-07-28 2014-04-04 메사추세츠 인스티튜트 오브 테크놀로지 고해상도 표면 측정 시스템 및 방법
US10574944B2 (en) 2013-03-08 2020-02-25 Gelsight, Inc. Continuous contact-based three-dimensional measurement
JP6862794B2 (ja) * 2016-11-24 2021-04-21 セイコーエプソン株式会社 力検出センサー、力覚センサー、トルクセンサーおよびロボット
CZ308886B6 (cs) * 2019-10-11 2021-08-04 4Dot Mechatronic Systems S.R.O. Snímač přetvoření a sestava pro měření přetvoření obsahující tento snímač
US20230103759A1 (en) * 2021-10-05 2023-04-06 Toyota Research Institute, Inc. Robotic Tool Control with Compliant Force/Geometry Sensor

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1471357A (en) * 1973-08-08 1977-04-27 Omron Tateisi Electronics Co Photoelectric detector
US3878477A (en) * 1974-01-08 1975-04-15 Hewlett Packard Co Acoustic surface wave oscillator force-sensing devices
US3978731A (en) * 1974-02-25 1976-09-07 United Technologies Corporation Surface acoustic wave transducer
US3962903A (en) * 1974-12-23 1976-06-15 International Business Machines Corporation Method and system for sensing an identifying means
US4107626A (en) * 1976-12-20 1978-08-15 Gould Inc. Digital output force sensor using surface acoustic waves
US4216401A (en) * 1978-12-22 1980-08-05 United Technologies Corporation Surface acoustic wave (SAW) pressure sensor structure
SU769331A1 (ru) * 1979-01-22 1980-10-07 Горьковский Политехнический Институт Им. А.А.Жданова Дифференциально-транспортный датчик
US4295102A (en) * 1979-09-28 1981-10-13 Texas Instruments Incorporated Surface acoustic wave sensor sensing circuits
SU901821A1 (ru) * 1980-06-27 1982-01-30 Рязанский Завод Тепловых Приборов "Теплоприбор" Бесконтактный датчик положени
GB2117593B (en) * 1982-03-31 1985-11-27 Marconi Co Ltd Adjusting the frequency response of surface acoustic wave devices
US4512198A (en) * 1982-09-29 1985-04-23 Schlumberger Technology Corporation Surface acoustic wave sensors
US4644804A (en) * 1984-07-17 1987-02-24 Franz Rittmeyer Ag Quartz resonating force and pressure transducer
US4634917A (en) * 1984-12-26 1987-01-06 Battelle Memorial Institute Active multi-layer piezoelectric tactile sensor apparatus and method

Also Published As

Publication number Publication date
SE8602736D0 (sv) 1986-06-19
DE3621037A1 (de) 1987-01-02
US4775961A (en) 1988-10-04
SE460153B (sv) 1989-09-11
CS462385A1 (en) 1989-05-12
JPS6255535A (ja) 1987-03-11
FR2583936A1 (fr) 1986-12-26
CS267053B1 (en) 1990-02-12
SE8602736L (sv) 1986-12-25

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Legal Events

Date Code Title Description
ST Notification of lapse