JP6554202B1 - センサモジュール及びロボットシステム - Google Patents
センサモジュール及びロボットシステム Download PDFInfo
- Publication number
- JP6554202B1 JP6554202B1 JP2018071072A JP2018071072A JP6554202B1 JP 6554202 B1 JP6554202 B1 JP 6554202B1 JP 2018071072 A JP2018071072 A JP 2018071072A JP 2018071072 A JP2018071072 A JP 2018071072A JP 6554202 B1 JP6554202 B1 JP 6554202B1
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- robot hand
- sensor module
- finger
- proximity
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B25J13/086—Proximity 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
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- 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
-
- 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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
-
- 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
Abstract
Description
13 ベースカバー部 14 圧力センサ
15 指本体 16 指先部
16a 腹部 20 ロボットハンド
30,40,50,60,70 センサモジュール
31,31’、31” 基材 32 センサ
33 センサ配線 33a 端子
34 MCU 35 近接覚センサ
36 無線装置 37 粘着材
Claims (7)
- 複数の指を有するロボットハンド用のセンサモジュールであって、
前記指に着脱可能とされて被せられるフレキシブルな基材の外側表面にセンサを備え、
前記基材は手袋形状をなし、
前記センサは近接覚センサ及び触覚センサの少なくとも一方とされて前記指の指先に対応する位置に位置していることを特徴とするセンサモジュール。 - 請求項1に記載のセンサモジュールにおいて、
前記外側表面の手のひらに対応する位置にも近接覚センサが設けられていることを特徴とするセンサモジュール。 - 請求項1又は2に記載のセンサモジュールにおいて、
前記近接覚センサは光反射式であることを特徴とするセンサモジュール。 - 請求項1又は2に記載のセンサモジュールにおいて、
前記外側表面にセンサ配線が形成されていることを特徴とするセンサモジュール。 - 請求項1又は2に記載のセンサモジュールにおいて、
前記外側表面に無線装置が設けられていることを特徴とするセンサモジュール。 - 請求項4に記載のセンサモジュールがロボットハンドに装着され、
前記センサ配線と前記ロボットハンドの制御装置とが配線で接続されていることを特徴とするロボットシステム。 - 請求項5に記載のセンサモジュールがロボットハンドに装着され、
前記無線装置と前記ロボットハンドの制御装置とが無線で接続されていることを特徴とするロボットシステム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018071072A JP6554202B1 (ja) | 2018-04-02 | 2018-04-02 | センサモジュール及びロボットシステム |
US16/970,695 US20200376674A1 (en) | 2018-04-02 | 2018-12-26 | Sensor module and robot system |
CN201880090667.1A CN112074384A (zh) | 2018-04-02 | 2018-12-26 | 传感器模块以及机器人系统 |
EP18913983.5A EP3747605A4 (en) | 2018-04-02 | 2018-12-26 | SENSOR MODULE AND ROBOT SYSTEM |
PCT/JP2018/047750 WO2019193795A1 (ja) | 2018-04-02 | 2018-12-26 | センサモジュール及びロボットシステム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018071072A JP6554202B1 (ja) | 2018-04-02 | 2018-04-02 | センサモジュール及びロボットシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6554202B1 true JP6554202B1 (ja) | 2019-07-31 |
JP2019181578A JP2019181578A (ja) | 2019-10-24 |
Family
ID=67473432
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018071072A Active JP6554202B1 (ja) | 2018-04-02 | 2018-04-02 | センサモジュール及びロボットシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200376674A1 (ja) |
EP (1) | EP3747605A4 (ja) |
JP (1) | JP6554202B1 (ja) |
CN (1) | CN112074384A (ja) |
WO (1) | WO2019193795A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111103076A (zh) * | 2019-12-18 | 2020-05-05 | 上海交通大学 | 可穿戴式布莱叶盲文识别系统及其识别方法、制备方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
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US5413611A (en) * | 1992-07-21 | 1995-05-09 | Mcp Services, Inc. | Computerized electronic prosthesis apparatus and method |
JPH10249768A (ja) * | 1997-03-12 | 1998-09-22 | Tokai Rubber Ind Ltd | 力センサー |
US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
JP3144420B1 (ja) * | 1999-10-21 | 2001-03-12 | オムロン株式会社 | 人工触覚器およびこの触覚器を用いた人工皮膚ならびにロボット |
US6996456B2 (en) * | 2002-10-21 | 2006-02-07 | Fsi International, Inc. | Robot with tactile sensor device |
US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
JP5416904B2 (ja) * | 2008-02-12 | 2014-02-12 | 株式会社東芝 | 圧力センサおよびロボットハンドシステム |
JP2010158754A (ja) * | 2009-01-09 | 2010-07-22 | Nippon Telegr & Teleph Corp <Ntt> | ロボットハンド用の被着装置 |
US8662552B2 (en) * | 2010-02-23 | 2014-03-04 | Massachusetts Institute Of Technology | Dexterous and compliant robotic finger |
JP2011224695A (ja) * | 2010-04-19 | 2011-11-10 | Toyota Motor Corp | ロボットの把持制御システム及びロボット |
JP5859837B2 (ja) * | 2011-12-15 | 2016-02-16 | 株式会社日立製作所 | ロボット装置、およびセンサの状態判定方法 |
US9120233B2 (en) * | 2012-05-31 | 2015-09-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Non-contact optical distance and tactile sensing system and method |
US9149933B2 (en) * | 2013-02-07 | 2015-10-06 | GM Global Technology Operations LLC | Grasp assist device with shared tendon actuator assembly |
JP5835276B2 (ja) * | 2013-06-24 | 2015-12-24 | 株式会社安川電機 | ロボット、ロボットの製造方法および袋体 |
DK3107429T3 (da) * | 2014-02-20 | 2024-02-12 | Mbl Ltd | Fremgangsmåder og systemer til tilberedning af mad i et robot-madlavningskøkken |
JP2016052697A (ja) * | 2014-09-03 | 2016-04-14 | インターマン株式会社 | 人型ロボット |
EP3208687B1 (en) * | 2014-10-17 | 2019-11-27 | Yamaha Corporation | Data glove |
JP2016203264A (ja) * | 2015-04-15 | 2016-12-08 | 株式会社豊田自動織機 | ロボットハンド |
JP2016218063A (ja) * | 2015-05-19 | 2016-12-22 | 日本精工株式会社 | 近接覚センサ |
CN108885146B (zh) * | 2016-01-29 | 2020-12-18 | 株式会社理光 | 压敏传感器,抓取装置和机器人 |
-
2018
- 2018-04-02 JP JP2018071072A patent/JP6554202B1/ja active Active
- 2018-12-26 WO PCT/JP2018/047750 patent/WO2019193795A1/ja unknown
- 2018-12-26 US US16/970,695 patent/US20200376674A1/en active Pending
- 2018-12-26 EP EP18913983.5A patent/EP3747605A4/en not_active Withdrawn
- 2018-12-26 CN CN201880090667.1A patent/CN112074384A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
US20200376674A1 (en) | 2020-12-03 |
CN112074384A (zh) | 2020-12-11 |
WO2019193795A1 (ja) | 2019-10-10 |
JP2019181578A (ja) | 2019-10-24 |
EP3747605A1 (en) | 2020-12-09 |
EP3747605A4 (en) | 2021-05-05 |
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