JP2009075083A5 - - Google Patents
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- Publication number
- JP2009075083A5 JP2009075083A5 JP2008201968A JP2008201968A JP2009075083A5 JP 2009075083 A5 JP2009075083 A5 JP 2009075083A5 JP 2008201968 A JP2008201968 A JP 2008201968A JP 2008201968 A JP2008201968 A JP 2008201968A JP 2009075083 A5 JP2009075083 A5 JP 2009075083A5
- Authority
- JP
- Japan
- Prior art keywords
- magnetic
- magnetic flux
- generation source
- flux generation
- force sensor
- 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.)
- Granted
Links
- 230000004907 flux Effects 0.000 claims 7
- 230000005415 magnetization Effects 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 claims 1
- 230000005389 magnetism Effects 0.000 claims 1
- 230000002093 peripheral effect Effects 0.000 claims 1
- 210000000707 wrist Anatomy 0.000 claims 1
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008201968A JP5376859B2 (ja) | 2007-08-28 | 2008-08-05 | 磁気式力センサ及び磁気式力センサを有するロボットアーム |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007221295 | 2007-08-28 | ||
| JP2007221295 | 2007-08-28 | ||
| JP2008201968A JP5376859B2 (ja) | 2007-08-28 | 2008-08-05 | 磁気式力センサ及び磁気式力センサを有するロボットアーム |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2009075083A JP2009075083A (ja) | 2009-04-09 |
| JP2009075083A5 true JP2009075083A5 (enExample) | 2011-09-22 |
| JP5376859B2 JP5376859B2 (ja) | 2013-12-25 |
Family
ID=40387078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2008201968A Expired - Fee Related JP5376859B2 (ja) | 2007-08-28 | 2008-08-05 | 磁気式力センサ及び磁気式力センサを有するロボットアーム |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8453523B2 (enExample) |
| EP (1) | EP2188606A4 (enExample) |
| JP (1) | JP5376859B2 (enExample) |
| KR (1) | KR101270359B1 (enExample) |
| CN (1) | CN101779110A (enExample) |
| WO (1) | WO2009028355A1 (enExample) |
Families Citing this family (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5500957B2 (ja) | 2009-11-26 | 2014-05-21 | キヤノン株式会社 | 磁気式力覚センサ |
| KR101397273B1 (ko) * | 2009-12-15 | 2014-05-20 | 캐논 가부시끼가이샤 | 자기력 센서 |
| JP5875382B2 (ja) * | 2011-02-15 | 2016-03-02 | キヤノン株式会社 | 力覚センサ、ロボット装置、ロボットハンド及び検出装置 |
| 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 |
| JP5778513B2 (ja) * | 2011-07-28 | 2015-09-16 | Ntn株式会社 | 直動アクチュエータ用の磁気式荷重センサおよび直動アクチュエータ |
| JP5833405B2 (ja) | 2011-10-11 | 2015-12-16 | Ntn株式会社 | 直動アクチュエータ用の磁気式荷重センサおよび直動アクチュエータ |
| JP6168868B2 (ja) * | 2012-06-29 | 2017-07-26 | キヤノン株式会社 | 力覚センサ及び力覚センサを備えたロボットアーム |
| CN102788655B (zh) * | 2012-08-14 | 2014-07-02 | 江苏金风科技有限公司 | 风机载荷的测量装置、系统和风机控制系统 |
| US9453769B2 (en) | 2014-08-25 | 2016-09-27 | Maglogix, Llc | Method for developing a sensing system to measure the attractive force between a magnetic structure and its target by quantifying the opposing residual magnetic field (ORMF) |
| JP6771888B2 (ja) * | 2015-01-29 | 2020-10-21 | キヤノン株式会社 | ロボット装置、制御方法、物品の製造方法、プログラム及び記録媒体 |
| US10201901B2 (en) | 2015-01-29 | 2019-02-12 | Canon Kabushiki Kaisha | Robot apparatus, method for controlling robot, program, and recording medium |
| US9857245B2 (en) | 2015-03-09 | 2018-01-02 | Worcester Polytechnic Institute | Soft-body deformation and force sensing |
| CA2996698C (en) * | 2015-08-26 | 2021-07-13 | Berkshire Grey, Inc. | Systems and methods for providing contact detection in an articulated arm |
| US11370128B2 (en) | 2015-09-01 | 2022-06-28 | Berkshire Grey Operating Company, Inc. | Systems and methods for providing dynamic robotic control systems |
| ES2845683T3 (es) | 2015-09-01 | 2021-07-27 | Berkshire Grey Inc | Sistemas y métodos para proporcionar sistemas de control robótico dinámico |
| CA3107257C (en) | 2015-11-13 | 2023-05-02 | Berkshire Grey, Inc. | Sortation systems and methods for providing sortation of a variety of objects |
| US10371257B2 (en) | 2015-11-30 | 2019-08-06 | Denso Corporation | Rotational drive apparatus and shift-by-wire system having the same |
| ES3032951T3 (en) | 2016-01-08 | 2025-07-29 | Berkshire Grey Operating Company Inc | Systems and methods for acquiring and moving objects |
| DE102016111262B3 (de) * | 2016-06-20 | 2017-12-07 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Kraft-Momenten-Sensor |
| JP6501746B2 (ja) | 2016-10-07 | 2019-04-17 | キヤノン株式会社 | 変位測定装置、ロボット、ロボットアーム及び物品の製造方法 |
| JP6686966B2 (ja) | 2017-05-17 | 2020-04-22 | 株式会社デンソー | 回転式アクチュエータ |
| US11079294B2 (en) * | 2017-02-28 | 2021-08-03 | Komatsu Ltd. | Operation lever |
| CN110392623B (zh) | 2017-03-06 | 2022-09-23 | 伯克希尔格雷运营股份有限公司 | 用于有效地移动各种物体的系统和方法 |
| NL1042415B1 (en) * | 2017-06-02 | 2018-12-11 | Idbike B V | Displacement measuring device |
| JP6843726B2 (ja) | 2017-10-17 | 2021-03-17 | キヤノン株式会社 | 力覚センサ及びロボット |
| JP6626075B2 (ja) * | 2017-11-28 | 2019-12-25 | ファナック株式会社 | 変位検出方式の６軸力センサ |
| EP3740355B1 (en) | 2018-01-17 | 2025-07-30 | Berkshire Grey Operating Company, Inc. | Systems and methods for efficiently moving a variety of objects |
| US11945103B2 (en) | 2020-07-22 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively collapsing vacuum gripper |
| CN116133975B (zh) | 2020-07-22 | 2025-11-18 | 伯克希尔格雷营业股份有限公司 | 用于使用通过排空提供对象保持的真空夹持器进行对象处理的系统和方法 |
| CN115112286A (zh) * | 2021-03-19 | 2022-09-27 | 美蓓亚三美株式会社 | 应变体、力传感器装置 |
| US12042929B2 (en) * | 2021-06-17 | 2024-07-23 | Shanghai Flexiv Robotics Technology Co., Ltd. | Sensing assembly, force and torque sensor assembly, robot joint and robot |
| US12447605B2 (en) | 2022-01-21 | 2025-10-21 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing with programmable motion devices using yawing grippers |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3740594A (en) * | 1971-08-30 | 1973-06-19 | Fema Corp | Permanent-electromagnetic reciprocating device |
| SE359375B (enExample) * | 1972-01-03 | 1973-08-27 | Asea Ab | |
| JPS5523711A (en) * | 1978-07-29 | 1980-02-20 | Sony Corp | Rotary electric machine |
| JPS60195432A (ja) | 1984-03-16 | 1985-10-03 | Nippon Telegr & Teleph Corp <Ntt> | 多分力検出器 |
| US4635479A (en) * | 1984-08-29 | 1987-01-13 | Massachusetts Institute Of Technology | Force sensing apparatus |
| CN85103183A (zh) | 1985-04-26 | 1987-04-08 | 株式会社岛津制作所 | 电磁力发生装置 |
| JPH01196585A (ja) * | 1988-02-02 | 1989-08-08 | Fujitsu Ltd | 超電導材料を用いたセンサ |
| JPH01262431A (ja) | 1988-04-13 | 1989-10-19 | Toshiba Corp | 力覚センサ |
| EP0947815A1 (de) * | 1998-04-01 | 1999-10-06 | HAENNI & CIE. AG | Differentieller Druckmessumformer |
| JP3577420B2 (ja) * | 1999-01-21 | 2004-10-13 | 株式会社フジユニバンス | 荷重センサ |
| US6591688B2 (en) * | 2001-03-07 | 2003-07-15 | Starr-Johnson | Load sensing by partial magnetic saturation |
| US6691560B2 (en) * | 2001-11-02 | 2004-02-17 | Albert C. Abnett | Free rotor viscometer |
| US6623326B2 (en) * | 2001-12-19 | 2003-09-23 | Hasbro, Inc. | Sound-effects generating device with bipolar magnetic switching for activity devices |
| DE10229020A1 (de) * | 2002-06-28 | 2004-01-22 | Robert Bosch Gmbh | Kraftsensor |
| JP2004325328A (ja) | 2003-04-25 | 2004-11-18 | Asahi Kasei Electronics Co Ltd | 多分力検出器 |
| WO2004099746A1 (de) * | 2003-05-07 | 2004-11-18 | Robert Bosch Gmbh | Kraftmesselement |
| JP2005221418A (ja) * | 2004-02-06 | 2005-08-18 | Tdk Corp | 圧力センサ |
| DE102004020680A1 (de) * | 2004-03-25 | 2005-10-13 | Robert Bosch Gmbh | Verbindungselement |
| DE102005041030B4 (de) | 2005-08-23 | 2008-01-03 | Prettl, Rolf | Sitzbelegungs-Sensoranordnung und Verfahren zum Messen einer Kraft |
| JP5130097B2 (ja) * | 2008-03-31 | 2013-01-30 | カヤバ工業株式会社 | トルクセンサ |
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2008
- 2008-08-05 JP JP2008201968A patent/JP5376859B2/ja not_active Expired - Fee Related
- 2008-08-13 KR KR1020107006043A patent/KR101270359B1/ko not_active Expired - Fee Related
- 2008-08-13 US US12/663,747 patent/US8453523B2/en not_active Expired - Fee Related
- 2008-08-13 WO PCT/JP2008/064767 patent/WO2009028355A1/en not_active Ceased
- 2008-08-13 EP EP08792547A patent/EP2188606A4/en not_active Withdrawn
- 2008-08-13 CN CN200880025638A patent/CN101779110A/zh active Pending