JP5678670B2 - 超音波センサー、触覚センサー、および把持装置 - Google Patents

超音波センサー、触覚センサー、および把持装置 Download PDF

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Publication number
JP5678670B2
JP5678670B2 JP2011000977A JP2011000977A JP5678670B2 JP 5678670 B2 JP5678670 B2 JP 5678670B2 JP 2011000977 A JP2011000977 A JP 2011000977A JP 2011000977 A JP2011000977 A JP 2011000977A JP 5678670 B2 JP5678670 B2 JP 5678670B2
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JP
Japan
Prior art keywords
ultrasonic
sensor
reflector
unit
elastic film
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.)
Expired - Fee Related
Application number
JP2011000977A
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English (en)
Japanese (ja)
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JP2012141256A5 (enExample
JP2012141256A (ja
Inventor
次郎 鶴野
次郎 鶴野
西脇　学
学 西脇
友亮 中村
友亮 中村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
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Seiko Epson Corp
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Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2011000977A priority Critical patent/JP5678670B2/ja
Priority to US13/332,794 priority patent/US9127999B2/en
Publication of JP2012141256A publication Critical patent/JP2012141256A/ja
Publication of JP2012141256A5 publication Critical patent/JP2012141256A5/ja
Application granted granted Critical
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Expired - Fee Related legal-status Critical Current
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Classifications

    • 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
    • G01L1/25—Measuring force or stress, in general using wave or particle radiation, e.g. X-rays, microwaves, neutrons
    • 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
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Toxicology (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
JP2011000977A 2011-01-06 2011-01-06 超音波センサー、触覚センサー、および把持装置 Expired - Fee Related JP5678670B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2011000977A JP5678670B2 (ja) 2011-01-06 2011-01-06 超音波センサー、触覚センサー、および把持装置
US13/332,794 US9127999B2 (en) 2011-01-06 2011-12-21 Ultrasonic sensor, tactile sensor, grasping apparatus, and electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011000977A JP5678670B2 (ja) 2011-01-06 2011-01-06 超音波センサー、触覚センサー、および把持装置

Publications (3)

Publication Number Publication Date
JP2012141256A JP2012141256A (ja) 2012-07-26
JP2012141256A5 JP2012141256A5 (enExample) 2014-02-13
JP5678670B2 true JP5678670B2 (ja) 2015-03-04

Family

ID=46454194

Family Applications (1)

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JP2011000977A Expired - Fee Related JP5678670B2 (ja) 2011-01-06 2011-01-06 超音波センサー、触覚センサー、および把持装置

Country Status (2)

Country Link
US (1) US9127999B2 (enExample)
JP (1) JP5678670B2 (enExample)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5990929B2 (ja) 2012-02-24 2016-09-14 セイコーエプソン株式会社 超音波トランスデューサー装置およびプローブ並びに電子機器および超音波診断装置
WO2014018116A1 (en) * 2012-07-26 2014-01-30 Changello Enterprise Llc Ultrasound-based force sensing and touch sensing
WO2014018121A1 (en) 2012-07-26 2014-01-30 Changello Enterprise Llc Fingerprint-assisted force estimation
WO2014018115A1 (en) 2012-07-26 2014-01-30 Changello Enterprise Llc Ultrasound-based force sensing of inputs
WO2014035479A2 (en) 2012-08-30 2014-03-06 Changello Enterprise Llc Auto-baseline determination for force sensing
CN208212011U (zh) * 2016-08-31 2018-12-11 北京先通康桥医药科技有限公司 一种电容式mems传感器阵列
JP6991791B2 (ja) 2017-08-25 2022-01-13 キヤノン株式会社 複合センサ
EP3778153B1 (en) * 2018-03-27 2025-01-08 Sony Group Corporation Control device, control method, and program
JP7259247B2 (ja) * 2018-09-28 2023-04-18 セイコーエプソン株式会社 制御装置、ロボットシステム、及びロボット
US11333634B2 (en) 2019-10-23 2022-05-17 Industrial Technology Research Institute Signal sensing module and ultrasonic probe using the same
US11772262B2 (en) * 2019-10-25 2023-10-03 Dexterity, Inc. Detecting slippage from robotic grasp
US11607816B2 (en) 2019-10-25 2023-03-21 Dexterity, Inc. Detecting robot grasp of very thin object or feature
JP7297696B2 (ja) * 2020-01-27 2023-06-26 株式会社東芝 検出装置及び収束部材
JP7546272B2 (ja) * 2020-05-07 2024-09-06 株式会社ブイ・テクノロジー テンション計測装置とテンション計測方法
CN114101201B (zh) * 2021-11-04 2022-07-08 江苏理工学院 一种自动识别并分类汽车零部件的清洗装置及方法
JP7737144B2 (ja) * 2022-01-24 2025-09-10 株式会社ブイ・テクノロジー テンション計測装置及びテンション計測方法

Family Cites Families (22)

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JPS6034295A (ja) * 1983-08-03 1985-02-21 株式会社日立製作所 皮膚感覚センサ
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor
JPS61207938A (ja) * 1985-03-13 1986-09-16 Tokyo Univ 音弾性被膜を用いた応力測定方法
US5553500A (en) * 1994-10-26 1996-09-10 Bonneville Scientific Incorporated Triaxial normal and shear force sensor
JP3871293B2 (ja) 1999-03-10 2007-01-24 学校法人慶應義塾 ハンド又はマニピュレータによる物体把持制御方法
WO2003042686A1 (fr) * 2001-11-14 2003-05-22 Kabushiki Kaisha Toshiba Echographe, transducteur ultrasons, instrument d'examen et dispositif d'ultrasonographie
FR2858406B1 (fr) * 2003-08-01 2005-10-21 Centre Nat Rech Scient Capteur, dispositif et procede visant a mesurer la pression d'interface entre deux corps
JP4035515B2 (ja) * 2004-05-18 2008-01-23 ミネベア株式会社 光学式変位センサおよび外力検出装置
JP4876240B2 (ja) * 2005-01-28 2012-02-15 国立大学法人 東京大学 触覚センサ及びその製造方法
JP4708979B2 (ja) 2005-11-28 2011-06-22 ニッタ株式会社 光学式触覚センサ
JP2009053040A (ja) * 2007-08-27 2009-03-12 Jtekt Corp 超音波センサおよびセンサ付き転がり軸受装置
US7804742B2 (en) * 2008-01-29 2010-09-28 Hyde Park Electronics Llc Ultrasonic transducer for a proximity sensor
JP5293557B2 (ja) 2008-12-17 2013-09-18 セイコーエプソン株式会社 超音波トランスデューサー、超音波トランスデューサーアレイ及び超音波デバイス
JP5499479B2 (ja) 2009-01-13 2014-05-21 セイコーエプソン株式会社 電子機器
JP5206432B2 (ja) 2009-01-13 2013-06-12 セイコーエプソン株式会社 検出装置及び電子機器
JP5434109B2 (ja) 2009-02-06 2014-03-05 セイコーエプソン株式会社 超音波センサーユニット
JP5310119B2 (ja) 2009-03-06 2013-10-09 セイコーエプソン株式会社 超音波センサーユニット
JP5177033B2 (ja) 2009-03-18 2013-04-03 セイコーエプソン株式会社 入力装置、及び電子機器
JP2010244119A (ja) 2009-04-01 2010-10-28 Seiko Epson Corp 入力補助装置、及び入力装置
JP2011104472A (ja) 2009-11-13 2011-06-02 Seiko Epson Corp 超音波洗浄装置、及び超音波洗浄装置の洗浄方法
JP5445065B2 (ja) * 2009-11-25 2014-03-19 セイコーエプソン株式会社 剪断力検出素子、触覚センサー、および把持装置
JP6089499B2 (ja) * 2012-08-28 2017-03-08 セイコーエプソン株式会社 超音波トランスデューサー装置およびプローブ並びに電子機器および超音波診断装置

Also Published As

Publication number Publication date
US20120174672A1 (en) 2012-07-12
US9127999B2 (en) 2015-09-08
JP2012141256A (ja) 2012-07-26

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