JP6748788B2 - 空圧基盤触覚センサー - Google Patents
空圧基盤触覚センサー Download PDFInfo
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- JP6748788B2 JP6748788B2 JP2019548554A JP2019548554A JP6748788B2 JP 6748788 B2 JP6748788 B2 JP 6748788B2 JP 2019548554 A JP2019548554 A JP 2019548554A JP 2019548554 A JP2019548554 A JP 2019548554A JP 6748788 B2 JP6748788 B2 JP 6748788B2
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Classifications
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- 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
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/122—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using permanent magnets
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- 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
- G01L1/02—Measuring force or stress, in general by hydraulic or pneumatic means
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- 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
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/127—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using inductive means
-
- 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
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- 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
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
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- G—PHYSICS
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- 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
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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
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/0041—Transmitting or indicating the displacement of flexible diaphragms
- G01L9/007—Transmitting or indicating the displacement of flexible diaphragms using variations in inductance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/14—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means involving the displacement of magnets, e.g. electromagnets
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- 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
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
-
- 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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/164—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in inductance
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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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/169—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using magnetic means
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
- G06F3/0202—Constructional details or processes of manufacture of the input device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Electromagnetism (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
また、空圧発生部と空圧受信部を空圧伝達ラインを通じて分離構成が可能な空圧基盤触覚センサーを提供する。
前記永久磁石の磁束の強さまたは前記永久磁石の位置により触覚センサーの敏感度および測定範囲が調節されてもよい。
図面において、本発明を明確に説明するために、説明上不要な部分は省略し、明細書全体にわたって同一または類似の構成要素については同一の参照符号を付した。
図1には、本発明の一実施例による空圧基盤触覚センサー1000(以下、「触覚センサー」)の斜視図が示されている。
図4には、本発明の一実施例によるセンサー部200の投影斜視図が示されており、図5には、センサー部200の断面図が示されている。ここで図5は理解の便宜のために構成を単純化して示した。
100:触覚送信空圧部
200:触覚受信センサー部
210:磁束基盤変位部
220:磁気抵抗センサー部
300:触覚伝達空圧ライン
Claims (7)
- 一面に印加される外部の荷重により空圧を発生させる触覚送信空圧部、
前記触覚送信空圧部の空圧の大きさを変位に変換させて前記荷重を測定する触覚受信センサー部、および、
前記触覚送信空圧部の空圧を前記触覚受信センサー部に伝達するように前記触覚送信空圧部と前記触覚受信センサー部を連結する触覚伝達空圧ライン、を含み、
前記触覚送信空圧部は、
内部に第1空間が形成され、一側に第1開放面が形成され、他側に空圧吐出口が形成されたハウジング、前記第1開放面を密閉する弾性材質の感知メンブレイン、および、外部の荷重を感知する触覚受信ブロックを含み、
前記触覚受信センサー部は、
内部に第2空間が形成され、前記触覚伝達空圧ラインに連結されて前記触覚送信空圧部の空圧の大きさを変位に変換させる磁束基盤変位部、および、内部に第3空間が形成され、前記磁束基盤変位部の変位を感知して前記荷重の大きさを測定する磁気抵抗センサー部、を含み、
伝達メンブレインが前記磁束基盤変位部と前記磁気抵抗センサー部との間に備えられて前記第2空間と前記第3空間を区画し、
前記触覚受信ブロックは、前記感知メンブレインの下側に突出し、断面積が前記メンブレインの断面積より小さく形成される、空圧基盤触覚センサー。 - 前記触覚受信センサー部は、
磁気抵抗センサー(Magnetic resistance sensor)、静電容量センサー(Capacitance sensor)、圧電抵抗センサー(Piezo−resistive sensor)、接触抵抗センサー(Contact resistance sensor)の中から選択されるいずれか一つを含む、請求項1に記載の空圧基盤触覚センサー。 - 前記磁束基盤変位部は、
前記触覚送信空圧部の空圧の大きさを磁束の強さに変換させ、
前記磁気抵抗センサー部、前記磁束基盤変位部の磁束の強さを磁気抵抗センサーを通じて感知して前記荷重の大きさを測定する、請求項1に記載の空圧基盤触覚センサー。 - 前記触覚送信空圧部は、
前記第1開放面の断面積は、前記空圧吐出口の断面積より大きい、請求項1に記載の空圧基盤触覚センサー。 - 前記磁束基盤変位部は、
一側に前記空圧吐出口と連通する空圧流入口が形成され、他側に第2開放面が形成され、
前記第2開放面を密閉する前記伝達メンブレイン、および、
前記伝達メンブレインに結合される永久磁石、
を含む、請求項1に記載の空圧基盤触覚センサー。 - 前記磁気抵抗センサー部は、
一側に前記磁束基盤変位部の結合を通じて密閉されるように第3開放面が形成され、
前記第3開放面を通じて前記伝達メンブレインおよび永久磁石が露出し、
前記磁気抵抗センサー部は、
前記永久磁石の磁束を感知するように備えられる磁気抵抗センサー、
を含む、請求項5に記載の空圧基盤触覚センサー。 - 前記永久磁石の磁束の強さまたは前記永久磁石の位置により触覚センサーの敏感度および測定範囲が調節される、請求項5に記載の空圧基盤触覚センサー。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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KR10-2017-0030232 | 2017-03-09 | ||
KR1020170030232A KR101980224B1 (ko) | 2017-03-09 | 2017-03-09 | 공압 기반 촉각센서 |
PCT/KR2017/007002 WO2018164320A1 (ko) | 2017-03-09 | 2017-06-30 | 공압 기반 촉각센서 |
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JP2020510201A JP2020510201A (ja) | 2020-04-02 |
JP6748788B2 true JP6748788B2 (ja) | 2020-09-02 |
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US (1) | US10908033B2 (ja) |
EP (1) | EP3594650B1 (ja) |
JP (1) | JP6748788B2 (ja) |
KR (1) | KR101980224B1 (ja) |
WO (1) | WO2018164320A1 (ja) |
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KR102171596B1 (ko) * | 2019-02-21 | 2020-10-29 | 한국기계연구원 | 촉각 센서 |
KR102267515B1 (ko) | 2020-01-09 | 2021-06-21 | 한국기계연구원 | 촉각 감지 시스템 |
JP7461633B2 (ja) * | 2020-03-19 | 2024-04-04 | 国立大学法人大阪大学 | 触覚センサ |
US11408788B2 (en) * | 2020-03-31 | 2022-08-09 | Toyota Research Institute, Inc. | Variable geometry and stiffness control for fluid filled sensor |
CN111473805B (zh) * | 2020-04-17 | 2021-09-21 | 江苏多维科技有限公司 | 一种微机电环境传感器及其制备方法 |
JP7374188B2 (ja) * | 2020-08-04 | 2023-11-06 | コリア アドヴァンスド インスティテュート オブ サイエンス アンド テクノロジー | 触覚センサ、それを用いた触覚刺激検知方法、ロボット皮膚、及びそれを含むロボット |
WO2024028285A1 (en) * | 2022-08-04 | 2024-02-08 | Analog Devices International Unlimited Company | Force detection based on position and/or movement of magnetically sensitive material |
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JPH066277B2 (ja) * | 1984-09-25 | 1994-01-26 | 日本電気株式会社 | 触覚センサ |
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JPH1043142A (ja) * | 1996-08-01 | 1998-02-17 | Olympus Optical Co Ltd | 触覚センサプローブ |
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JP4189709B2 (ja) | 1999-05-13 | 2008-12-03 | ソニー株式会社 | モーションキャプチャー装置 |
WO2007083546A1 (ja) | 2006-01-19 | 2007-07-26 | National University Corporation Toyohashi University Of Technology | 触覚センサ装置 |
KR101087795B1 (ko) | 2006-07-21 | 2011-11-30 | 주식회사 하이닉스반도체 | 반도체 소자의 콘택 패턴 형성 방법 |
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WO2012054781A1 (en) * | 2010-10-20 | 2012-04-26 | Tactus Technology | User interface system and method |
JP6048947B2 (ja) | 2012-02-20 | 2016-12-21 | 国立大学法人 香川大学 | 触覚センサ |
JP5999591B2 (ja) | 2012-03-30 | 2016-09-28 | 独立行政法人国立高等専門学校機構 | 触覚センサ |
KR101301006B1 (ko) * | 2012-07-03 | 2013-08-29 | 한국과학기술연구원 | 촉각 제시 장치 |
JP6006277B2 (ja) * | 2014-11-06 | 2016-10-12 | ファナック株式会社 | 産業用ロボットのプログラム修正装置及びプログラム修正方法 |
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2017
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- 2017-06-30 WO PCT/KR2017/007002 patent/WO2018164320A1/ko unknown
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WO2018164320A1 (ko) | 2018-09-13 |
EP3594650A4 (en) | 2021-01-13 |
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JP2020510201A (ja) | 2020-04-02 |
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