JP2010528267A - グリップ制御のための生体模倣触覚センサ - Google Patents

グリップ制御のための生体模倣触覚センサ Download PDF

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Publication number
JP2010528267A
JP2010528267A JP2010508619A JP2010508619A JP2010528267A JP 2010528267 A JP2010528267 A JP 2010528267A JP 2010508619 A JP2010508619 A JP 2010508619A JP 2010508619 A JP2010508619 A JP 2010508619A JP 2010528267 A JP2010528267 A JP 2010528267A
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Japan
Prior art keywords
tactile sensor
electrode
core
skin
electrodes
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Pending
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JP2010508619A
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English (en)
Japanese (ja)
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JP2010528267A5 (enExample
Inventor
ヨハンソン，ローランド，エス．
ローブ，ジェラルド，イー．
ウェトルス，ニコラス
ポポヴィッチ，ジョルジェ
サントス，ヴェロニカ，ジェー．
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ユニバーシティ オブ サザン カリフォルニア
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Publication of JP2010528267A publication Critical patent/JP2010528267A/ja
Publication of JP2010528267A5 publication Critical patent/JP2010528267A5/ja
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G01D5/2417—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying separation
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • User Interface Of Digital Computer (AREA)
JP2010508619A 2007-05-18 2008-05-16 グリップ制御のための生体模倣触覚センサ Pending JP2010528267A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US93900907P 2007-05-18 2007-05-18
PCT/US2008/063985 WO2009023334A2 (en) 2007-05-18 2008-05-16 Biomimetic tactile sensor for control of grip

Publications (2)

Publication Number Publication Date
JP2010528267A true JP2010528267A (ja) 2010-08-19
JP2010528267A5 JP2010528267A5 (enExample) 2011-02-10

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Family Applications (1)

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JP2010508619A Pending JP2010528267A (ja) 2007-05-18 2008-05-16 グリップ制御のための生体模倣触覚センサ

Country Status (4)

Country Link
US (1) US7878075B2 (enExample)
EP (1) EP2158454B1 (enExample)
JP (1) JP2010528267A (enExample)
WO (1) WO2009023334A2 (enExample)

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JP2014076524A (ja) * 2012-10-11 2014-05-01 Seiko Epson Corp ロボットハンド、ロボット装置及びロボットハンドの製造方法
JPWO2023084971A1 (enExample) * 2021-11-11 2023-05-19

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