JP2011169749A5 - - Google Patents
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- JP2011169749A5 JP2011169749A5 JP2010033924A JP2010033924A JP2011169749A5 JP 2011169749 A5 JP2011169749 A5 JP 2011169749A5 JP 2010033924 A JP2010033924 A JP 2010033924A JP 2010033924 A JP2010033924 A JP 2010033924A JP 2011169749 A5 JP2011169749 A5 JP 2011169749A5
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- JP
- Japan
- Prior art keywords
- substrate
- elastic member
- protrusions
- detection units
- tactile sensor
- Prior art date
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Claims (4)
前記基板上に設けられ、力を検知するｎ（ｎは正の整数）個の検知部と、
前記ｎ個の検知部上に位置するｎ個の突出部を有し、前記基板および前記ｎ個の検知部を覆うように配置された弾性部材と、
前記弾性部材に接して前記弾性部材上に設けられるとともに、前記基板の面内方向において前記ｎ個の突出部の各々と所望の間隔を隔てて前記ｎ個の突出部の周囲に設けられ、前記弾性部材の硬度よりも大きい硬度を有する周辺部材とを備え、
前記ｎ個の検知部の各々は、１個以上のカンチレバーを含み、
前記所望の間隔は、前記検知部を破損させる破損力よりも小さい剪断力が前記検知部に印加されるように決定されている、触覚センサ。 A substrate,
N (n is a positive integer) detectors provided on the substrate for detecting force;
An elastic member having n protrusions located on the n detection units and arranged to cover the substrate and the n detection units;
The elastic member is provided on the elastic member in contact with the elastic member, and is provided around the n protrusions at a desired distance from each of the n protrusions in the in-plane direction of the substrate. A peripheral member having a hardness greater than the hardness of the elastic member,
Each of the n detection units includes one or more cantilevers,
The tactile sensor, wherein the desired interval is determined such that a shearing force smaller than a breaking force that damages the detection unit is applied to the detection unit.
前記ｎ個の突出部の各々の前記基板と反対側の先端部は、前記法線方向において前記基板から離れる方向へ略放物線状に突出した断面形状を有し、前記周辺部材の表面から突出している、請求項１に記載の触覚センサ。 Each of the n protrusions has a cross-sectional shape that is tapered in a direction away from the substrate in the normal direction of the substrate,
The tip of each of the n protrusions opposite to the substrate has a cross-sectional shape that protrudes in a parabolic shape in a direction away from the substrate in the normal direction, and protrudes from the surface of the peripheral member. The tactile sensor according to claim 1.
前記把持部の前記対象物に接する面に配置された触覚センサとを備え、
前記触覚センサは、
基板と、
前記基板上に設けられ、力を検知するｎ（ｎは正の整数）個の検知部と、
前記ｎ個の検知部上に位置するｎ個の突出部を有し、前記基板および前記ｎ個の検知部を覆うように配置された弾性部材と、
前記弾性部材に接して前記弾性部材上に設けられるとともに、前記基板の面内方向において前記ｎ個の突出部の各々と所望の間隔を隔てて前記ｎ個の突出部の周囲に設けられ、前記弾性部材の硬度よりも大きい硬度を有する周辺部材とを含み、
前記ｎ個の検知部の各々は、１個以上のカンチレバーを含み、
前記所望の間隔は、前記検知部を破損させる破損力よりも小さい剪断力が前記検知部に印加されるように決定されている、ロボット。 A gripping part for gripping an object;
A tactile sensor disposed on a surface of the gripping portion that contacts the object,
The tactile sensor is
A substrate,
N (n is a positive integer) detectors provided on the substrate for detecting force;
An elastic member having n protrusions located on the n detection units and arranged to cover the substrate and the n detection units;
The elastic member is provided on the elastic member in contact with the elastic member, and is provided around the n protrusions at a desired distance from each of the n protrusions in the in-plane direction of the substrate. A peripheral member having a hardness greater than the hardness of the elastic member,
Each of the n detection units includes one or more cantilevers,
The desired interval is determined such that a shearing force smaller than a damaging force that damages the detection unit is applied to the detection unit .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010033924A JP5470533B2 (en) | 2010-02-18 | 2010-02-18 | Tactile sensor and robot equipped with the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010033924A JP5470533B2 (en) | 2010-02-18 | 2010-02-18 | Tactile sensor and robot equipped with the same |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2011169749A JP2011169749A (en) | 2011-09-01 |
| JP2011169749A5 true JP2011169749A5 (en) | 2012-11-15 |
| JP5470533B2 JP5470533B2 (en) | 2014-04-16 |
Family
ID=44684031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010033924A Active JP5470533B2 (en) | 2010-02-18 | 2010-02-18 | Tactile sensor and robot equipped with the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5470533B2 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5867688B2 (en) * | 2011-09-22 | 2016-02-24 | 国立大学法人 東京大学 | Tactile sensor and multi-axis tactile sensor |
| US11243130B2 (en) | 2016-09-14 | 2022-02-08 | National University Corporation Kobe University | Force sensor and force sensor manufacturing method |
| JP6920064B2 (en) * | 2017-01-13 | 2021-08-18 | 株式会社アマダ | Robot hand and articulated robot |
| WO2019244710A1 (en) * | 2018-06-22 | 2019-12-26 | ソニー株式会社 | Slipping detection device |
| JP7287664B2 (en) * | 2019-06-17 | 2023-06-06 | 国立大学法人 香川大学 | Tactile sensor and tactile measurement method |
| JP7525153B2 (en) | 2020-10-14 | 2024-07-30 | 国立大学法人 香川大学 | Tactile Sensor |
| JP7558054B2 (en) * | 2020-12-24 | 2024-09-30 | 横河電機株式会社 | Force detector and force detection system |
| JP2023006241A (en) | 2021-06-30 | 2023-01-18 | セイコーエプソン株式会社 | Piezoelectric sensor and hand |
| KR102566361B1 (en) * | 2021-07-23 | 2023-08-11 | (주)신일팜글라스 | Apparatus for a fine transporting |
| CN116352765A (en) * | 2021-12-27 | 2023-06-30 | Oppo广东移动通信有限公司 | Force feedback device and robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6090696A (en) * | 1983-10-25 | 1985-05-21 | オムロン株式会社 | Pressure-sensitive sensor |
| JP4977825B2 (en) * | 2007-05-09 | 2012-07-18 | 国立大学法人 東京大学 | Shear force detection device and object gripping system |
| JP5504391B2 (en) * | 2008-06-06 | 2014-05-28 | 株式会社国際電気通信基礎技術研究所 | Tactile sensor array |
| JP5248221B2 (en) * | 2008-06-30 | 2013-07-31 | 株式会社ワコー | Force sensor and assembly method thereof |
-
2010
- 2010-02-18 JP JP2010033924A patent/JP5470533B2/en active Active
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