JP5003336B2 - 検出装置、ロボット装置、および入力装置 - Google Patents

検出装置、ロボット装置、および入力装置 Download PDF

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Publication number
JP5003336B2
JP5003336B2 JP2007199221A JP2007199221A JP5003336B2 JP 5003336 B2 JP5003336 B2 JP 5003336B2 JP 2007199221 A JP2007199221 A JP 2007199221A JP 2007199221 A JP2007199221 A JP 2007199221A JP 5003336 B2 JP5003336 B2 JP 5003336B2
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Japan
Prior art keywords
pressure
pressure center
slip
center position
detection
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JP2007199221A
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Japanese (ja)
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JP2009034742A (ja
JP2009034742A5 (enExample
Inventor
武夫 岸田
利充 坪井
哲治 福島
静華 矢田
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Sony Corp
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Sony Corp
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Priority to JP2007199221A priority Critical patent/JP5003336B2/ja
Priority to US12/181,369 priority patent/US7984658B2/en
Publication of JP2009034742A publication Critical patent/JP2009034742A/ja
Publication of JP2009034742A5 publication Critical patent/JP2009034742A5/ja
Priority to US13/171,525 priority patent/US8499651B2/en
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
    • G01L1/146—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors for measuring force distributions, e.g. using force arrays

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
JP2007199221A 2007-07-31 2007-07-31 検出装置、ロボット装置、および入力装置 Active JP5003336B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2007199221A JP5003336B2 (ja) 2007-07-31 2007-07-31 検出装置、ロボット装置、および入力装置
US12/181,369 US7984658B2 (en) 2007-07-31 2008-07-29 Detecting device
US13/171,525 US8499651B2 (en) 2007-07-31 2011-06-29 Detecting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007199221A JP5003336B2 (ja) 2007-07-31 2007-07-31 検出装置、ロボット装置、および入力装置

Publications (3)

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JP2009034742A JP2009034742A (ja) 2009-02-19
JP2009034742A5 JP2009034742A5 (enExample) 2010-04-30
JP5003336B2 true JP5003336B2 (ja) 2012-08-15

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US (2) US7984658B2 (enExample)
JP (1) JP5003336B2 (enExample)

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WO2019244661A1 (ja) * 2018-06-22 2019-12-26 ソニー株式会社 制御装置、制御方法及びプログラム
JPWO2019244661A1 (ja) * 2018-06-22 2021-07-26 ソニーグループ株式会社 制御装置、制御方法及びプログラム
JP7088287B2 (ja) 2018-06-22 2022-06-21 ソニーグループ株式会社 制御装置、制御方法及びプログラム
JP2022113772A (ja) * 2018-06-22 2022-08-04 ソニーグループ株式会社 ロボットシステム、制御方法及びプログラム
JP7276563B2 (ja) 2018-06-22 2023-05-18 ソニーグループ株式会社 ロボットシステム、制御方法及びプログラム
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Also Published As

Publication number Publication date
US7984658B2 (en) 2011-07-26
JP2009034742A (ja) 2009-02-19
US20090031825A1 (en) 2009-02-05
US8499651B2 (en) 2013-08-06
US20110252896A1 (en) 2011-10-20

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