JPH0448595B2 - - Google Patents
Info
- Publication number
- JPH0448595B2 JPH0448595B2 JP58141028A JP14102883A JPH0448595B2 JP H0448595 B2 JPH0448595 B2 JP H0448595B2 JP 58141028 A JP58141028 A JP 58141028A JP 14102883 A JP14102883 A JP 14102883A JP H0448595 B2 JPH0448595 B2 JP H0448595B2
- Authority
- JP
- Japan
- Prior art keywords
- sensation
- sensor
- signal
- processing circuit
- potential difference
- 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 - Lifetime
Links
- 230000035807 sensation Effects 0.000 claims description 53
- 238000001514 detection method Methods 0.000 claims description 45
- 239000000758 substrate Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 8
- 238000010008 shearing Methods 0.000 claims description 5
- 239000011241 protective layer Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000010410 layer Substances 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 208000036366 Sensation of pressure Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Manipulator (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58141028A JPS6034293A (ja) | 1983-08-03 | 1983-08-03 | 皮膚感覚センサ |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58141028A JPS6034293A (ja) | 1983-08-03 | 1983-08-03 | 皮膚感覚センサ |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6034293A JPS6034293A (ja) | 1985-02-21 |
JPH0448595B2 true JPH0448595B2 (US06521211-20030218-C00004.png) | 1992-08-07 |
Family
ID=15282531
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58141028A Granted JPS6034293A (ja) | 1983-08-03 | 1983-08-03 | 皮膚感覚センサ |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6034293A (US06521211-20030218-C00004.png) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009093727A1 (en) * | 2008-01-22 | 2009-07-30 | Canon Kabushiki Kaisha | Piezoelectric vibration type force sensor |
JP2011112459A (ja) * | 2009-11-25 | 2011-06-09 | Seiko Epson Corp | 剪断力検出素子、触覚センサー、および把持装置 |
JP2011163945A (ja) * | 2010-02-10 | 2011-08-25 | Seiko Epson Corp | 応力検出素子、触覚センサー、および把持装置 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63162174A (ja) * | 1986-12-25 | 1988-07-05 | 工業技術院長 | マスタスレ−ブハンドシステムの多感覚バイラテラル制御装置 |
JP2008082947A (ja) * | 2006-09-28 | 2008-04-10 | Hiroshima Univ | 挟み込み剪断力センサおよび挟み込み剪断力測定装置 |
JP5364886B2 (ja) * | 2009-01-23 | 2013-12-11 | 下山 勲 | 触覚センサ |
JP5338453B2 (ja) * | 2009-04-24 | 2013-11-13 | 株式会社藤製作所 | 歪センサを用いた転造盤 |
JP5463510B2 (ja) * | 2010-06-22 | 2014-04-09 | 独立行政法人科学技術振興機構 | 物理量センサ及びその製造方法 |
JP5787537B2 (ja) * | 2011-02-07 | 2015-09-30 | キヤノン株式会社 | 把持装置とロボット装置 |
JP5866891B2 (ja) * | 2011-09-06 | 2016-02-24 | セイコーエプソン株式会社 | 力センサー、力検出装置、ロボットハンド、およびロボット |
JP5866907B2 (ja) * | 2011-09-16 | 2016-02-24 | セイコーエプソン株式会社 | 力センサー、力検出装置、ロボットハンド、ロボット、および力センサーの製造方法 |
JP2013072837A (ja) * | 2011-09-29 | 2013-04-22 | Seiko Epson Corp | センサー素子、センサーデバイス、力検出装置およびロボット |
JP5516548B2 (ja) * | 2011-11-01 | 2014-06-11 | 株式会社デンソー | 把持用センサ及びロボットハンド駆動制御装置 |
JP2013160669A (ja) * | 2012-02-07 | 2013-08-19 | Seiko Epson Corp | センサーデバイス、センサーモジュール、力検出装置及びロボット |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4831598A (US06521211-20030218-C00004.png) * | 1971-08-25 | 1973-04-25 | ||
JPS5719278U (US06521211-20030218-C00004.png) * | 1980-07-07 | 1982-02-01 |
-
1983
- 1983-08-03 JP JP58141028A patent/JPS6034293A/ja active Granted
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4831598A (US06521211-20030218-C00004.png) * | 1971-08-25 | 1973-04-25 | ||
JPS5719278U (US06521211-20030218-C00004.png) * | 1980-07-07 | 1982-02-01 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009093727A1 (en) * | 2008-01-22 | 2009-07-30 | Canon Kabushiki Kaisha | Piezoelectric vibration type force sensor |
JP4677493B2 (ja) * | 2008-01-22 | 2011-04-27 | キヤノン株式会社 | 圧電振動型力センサ |
JP2011112459A (ja) * | 2009-11-25 | 2011-06-09 | Seiko Epson Corp | 剪断力検出素子、触覚センサー、および把持装置 |
JP2011163945A (ja) * | 2010-02-10 | 2011-08-25 | Seiko Epson Corp | 応力検出素子、触覚センサー、および把持装置 |
Also Published As
Publication number | Publication date |
---|---|
JPS6034293A (ja) | 1985-02-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPH0448597B2 (US06521211-20030218-C00004.png) | ||
JPH0448595B2 (US06521211-20030218-C00004.png) | ||
US8300018B2 (en) | Tactile sensor | |
US8573069B2 (en) | Stress sensing device, tactile sensor, and grasping apparatus | |
TWI408036B (zh) | 薄片狀觸覺感測系統 | |
US7500406B2 (en) | Multiaxial sensor | |
US8421311B2 (en) | Flexible piezoelectric tactile sensor | |
EP1688726A1 (en) | Strain gauge type sensor and strain gauge type sensor unit using the same | |
Chase et al. | A thin-film flexible capacitive tactile normal/shear force array sensor | |
US20200116577A1 (en) | Tactile sensor | |
JPH0448596B2 (US06521211-20030218-C00004.png) | ||
Wolffenbuttel et al. | Compliant capacitive wrist sensor for use in industrial robots | |
JP7420011B2 (ja) | 触覚センサ | |
JPH07140025A (ja) | 触覚センサ | |
Dahiya et al. | System approach: A paradigm for robotic tactile sensing | |
JP2006337315A (ja) | 触覚センサ及び触覚センサの感度調節方法 | |
Mukai | Soft areal tactile sensors with embedded semiconductor pressure sensors in a structured elastic body | |
JPS6037401B2 (ja) | 面圧力の重心位置検出方法 | |
JPS62238417A (ja) | 多機能マトリツクスセンサ | |
JPH03249530A (ja) | 分布型触覚センサ | |
JPH0658269B2 (ja) | 触覚センサ | |
JPS63217241A (ja) | 接触覚センサ | |
JPH03245027A (ja) | 触覚センサ | |
JPS62206423A (ja) | 分布型触覚センサの触覚検出方法及びその回路 | |
JPS6271828A (ja) | 面圧力分布検出装置 |