JP2002113685A5 - - Google Patents
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- JP2002113685A5 JP2002113685A5 JP2000309726A JP2000309726A JP2002113685A5 JP 2002113685 A5 JP2002113685 A5 JP 2002113685A5 JP 2000309726 A JP2000309726 A JP 2000309726A JP 2000309726 A JP2000309726 A JP 2000309726A JP 2002113685 A5 JP2002113685 A5 JP 2002113685A5
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- robot hand
- contact
- shape
- shape sensing
- sensing robot
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Claims (17)
前記電極搭載フィルムを２枚以上用いて対向位置に配して、電気的出力手段と電気的計測手段を設け、その電極間の電気信号を取り出し形状認識情報を得ることを可能とする形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In an electrode-mounted film in which electrodes are arranged in a regular shape on the surface or inside of a flexible and stretchable insulating film,
By arranging the opposing position with the electrode mounting film two or more, shape recognition sensor provided an electrical output means electrically measuring means makes it possible to obtain a shape recognition information taken out electrical signal between the electrodes Is built into the gripping contact portion of the robot hand.
ハンド接触部に対向させた前記電極搭載フィルムを２枚以上用いて、貼り合せを行い、袋状の形状にした形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 1,
It said electrode mounting film is opposed to the hand-contact portion with two or more, subjected to bonding, contact shape, which comprises incorporating a shape recognition sensor a bag-like shape in grasping contact portion of the robot hand Sensing robot hand.
対向させた前記電極搭載フィルムを貼り合せ袋形状にした袋内部に気体を入れた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 2,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor containing the gas therein bag was combined bag shape adhered to said electrode mounting film is opposed to the grip contact portion of the robot hand.
対向させた前記電極搭載フィルムを貼り合せ袋形状にした袋内部に液体を入れた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 2,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor containing the liquid in a bag inside which the combined bag shape adhered to said electrode mounting film is opposed to the grip contact portion of the robot hand.
ことを特徴とする接触式形状センシングロボットハンド。3. The contact-type shape sensing robot hand according to claim 2, wherein a shape recognition sensor in which powder is put inside a bag in which the facing electrode mounting film is bonded to form a bag is built in the gripping contact portion of the robot hand. Contact type shape sensing robot hand.
ことを特徴とする接触式形状センシングロボットハンド。3. The contact-type shape sensing robot hand according to claim 2, wherein a shape recognition sensor in which a fluid is put in a bag formed by bonding the electrode- mounted film facing each other into a bag shape is incorporated in a gripping contact portion of the robot hand. Contact type shape sensing robot hand.
対向させた前記電極搭載フィルムで構成された袋形状の内部の物質を抵抗率が明らかな物質で構成された形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 3 to 6,
Contact shape sensing, characterized in that a built-in counter is shape recognition sensor inside the material resistivity bag shape composed of the electrode mounting film is composed of a clear material was in grasping contact portion of the robot hand Robot hand.
対向させた前記電極搭載フィルムで構成された袋形状の内部の物質に誘電率が明らかな物質で構成された形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 3 to 6,
Contact shape sensing, characterized in that a built-in counter is shape recognition sensor permittivity inside a substance bag shape composed of the electrode mounting film is composed of a clear material was in grasping contact portion of the robot hand Robot hand.
対向させた前記電極搭載フィルムで構成された袋形状の内部の物質を入れ換える機能を具備する形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 3 to 6,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor having a function of replacing the inside of the material of the bag-shaped constituted by the electrode mounting film is opposed to the grip contact portion of the robot hand.
対向させた前記電極搭載フィルムで構成された袋形状の内部の物質の入れ替えを制御できる形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 9,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor that can control the switching of the material inside the bag shape composed of the electrode mounting film is opposed to the grip contact portion of the robot hand.
対向させた前記電極搭載フィルムで構成された袋形状の内部の物質の入れ替えを制御する装置を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 10,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor having a device for controlling the switching of the material inside the bag shape composed of the electrode mounting film is opposed to the grip contact portion of the robot hand .
対向させた前記電極搭載フィルムで構成された袋形状内部の圧力を計測する手段を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 1 to 11,
Contact shape sensing robot hand, characterized in that a built-in shape recognition sensor having means for measuring the pressure inside the bag shape composed of the electrode mounting film is opposed to the grip contact portion of the robot hand.
電気的計測手段により抽出された電極間の電気信号を演算する手段を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 1 to 12,
A contact-type shape sensing robot hand comprising a shape recognition sensor having means for calculating an electrical signal between electrodes extracted by an electrical measuring means in a gripping contact portion of the robot hand.
電気的計測手段により抽出された電極間の電気信号を演算する装置を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 13,
A contact-type shape sensing robot hand comprising a shape recognition sensor having a device for calculating an electrical signal between electrodes extracted by an electrical measuring means in a gripping contact portion of the robot hand.
電気的計測手段により抽出された電極間の電気信号の時間的変化を演算する手段を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 1 to 14,
A contact-type shape sensing robot hand comprising a shape recognition sensor having means for calculating a temporal change of an electrical signal between electrodes extracted by an electrical measuring means in a gripping contact portion of the robot hand.
電気的計測手段により抽出された電極間の電気信号の時間的変化を演算する装置を備えた形状認識センサをロボットハンドの把持接触部に内蔵する
ことを特徴とする接触式形状センシングロボットハンド。The contact-type shape sensing robot hand according to claim 15,
A contact-type shape sensing robot hand comprising a shape recognition sensor provided with a device for calculating a temporal change of an electrical signal between electrodes extracted by an electrical measuring means in a gripping contact portion of the robot hand.
ロボットアームに取り付ける
ことを特徴とする接触式形状センシングロボットハンド。In the contact-type shape sensing robot hand according to any one of claims 1 to 16,
A contact-type shape sensing robot hand that is attached to a robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000309726A JP2002113685A (en) | 2000-10-10 | 2000-10-10 | Contact type shape sensing robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000309726A JP2002113685A (en) | 2000-10-10 | 2000-10-10 | Contact type shape sensing robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002113685A JP2002113685A (en) | 2002-04-16 |
| JP2002113685A5 true JP2002113685A5 (en) | 2005-10-20 |
Family
ID=18789829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000309726A Pending JP2002113685A (en) | 2000-10-10 | 2000-10-10 | Contact type shape sensing robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002113685A (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4522130B2 (en) * | 2004-03-31 | 2010-08-11 | 明人 佐野 | Deformation detection member |
| WO2005064299A2 (en) | 2003-12-26 | 2005-07-14 | Toyota Jidosha Kabushiki Kaisha | Device and method for sensing and displaying convexo concave |
| JP2006297717A (en) * | 2005-04-19 | 2006-11-02 | Sumitomo Electric Ind Ltd | Method and apparatus for inspecting thin film made of resin |
| KR100959656B1 (en) * | 2008-03-05 | 2010-05-26 | 성균관대학교산학협력단 | Skin Sensor for Robotic Applications and Sensing Method therof |
| JP4633851B2 (en) * | 2009-12-07 | 2011-02-16 | 明人 佐野 | Unevenness detection position display device and unevenness detection position display method |
| JP5664849B2 (en) * | 2010-08-02 | 2015-02-04 | ソニー株式会社 | Shape sensor and information input device |
| KR101228155B1 (en) * | 2011-04-26 | 2013-01-30 | 성균관대학교산학협력단 | Devide and method for measuring the curvature |
| JP6640792B2 (en) | 2017-06-30 | 2020-02-05 | ファナック株式会社 | Hand control device, hand control method, and hand simulation device |
| JP6988743B2 (en) * | 2018-08-31 | 2022-01-05 | 豊田合成株式会社 | Robot hand |
| JP7085449B2 (en) * | 2018-10-01 | 2022-06-16 | 倉敷紡績株式会社 | Sheet-shaped article grasping robot, sheet-shaped article handling system and sheet-shaped article handling method |
| WO2022014393A1 (en) | 2020-07-16 | 2022-01-20 | 俊彦 清水 | Robot hand |
| JP2022046350A (en) * | 2020-09-10 | 2022-03-23 | ソニーグループ株式会社 | Information processing device, information processing method, and information processing program |
| CN112050989A (en) * | 2020-09-24 | 2020-12-08 | 大连理工大学 | Flexible three-dimensional touch sensor for humanoid grabbing |
-
2000
- 2000-10-10 JP JP2000309726A patent/JP2002113685A/en active Pending
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