JPH06182688A - Tactile sensor device - Google Patents
Tactile sensor deviceInfo
- Publication number
- JPH06182688A JPH06182688A JP22982192A JP22982192A JPH06182688A JP H06182688 A JPH06182688 A JP H06182688A JP 22982192 A JP22982192 A JP 22982192A JP 22982192 A JP22982192 A JP 22982192A JP H06182688 A JPH06182688 A JP H06182688A
- Authority
- JP
- Japan
- Prior art keywords
- cap
- detected
- tactile sensor
- pressure
- sensor device
- 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.)
- Granted
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はロボットハンドなどに取
り付けられる触覚センサ装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile sensor device attached to a robot hand or the like.
【０００２】[0002]
【従来の技術】従来、複数本の指を有するロボットハン
ドで対象物を安定に把持して、目的の作業どおりに対象
物を操作する研究が行われている。このような把持作業
には、各指先と対象物との間の接触力、接触状態を検出
するセンサが必要となる。2. Description of the Related Art Conventionally, research has been conducted in which a robot hand having a plurality of fingers stably grips an object and operates the object as intended. Such gripping work requires a sensor that detects the contact force and contact state between each fingertip and the object.
【０００３】従来、触覚センサとして、その多くは感圧
素子をマトリクス状に多数個配置した複雑な構造であ
る。この場合、感圧素子点間では正確な測定値が得られ
ず、このため、より多くの感圧素子を配置して高密度化
する必要がある。Conventionally, most tactile sensors have a complicated structure in which a large number of pressure sensitive elements are arranged in a matrix. In this case, an accurate measurement value cannot be obtained between the pressure sensitive element points, and therefore, it is necessary to arrange more pressure sensitive elements to increase the density.
【０００４】しかしながらロボットハンドの指先に感圧
素子を多数個配置すると、その小形化および取付け方法
に問題が生じてしまい、検出用の信号線が複雑になった
り、また信号処理計算が複雑化したり、あるいは指先を
所望の形状にしにくいなどの問題があった。However, when a large number of pressure-sensitive elements are arranged at the fingertips of the robot hand, there arises a problem in downsizing and mounting method thereof, the signal line for detection becomes complicated, and the signal processing calculation becomes complicated. Or, there is a problem that it is difficult to form the fingertip into a desired shape.
【０００５】また、複数の指を持つロボットハンドの各
指関節の駆動は、モータなどのアクチュエータを小形化
することが難しいことから、各関節にモータを組み込ま
ず、関節から離れたところにモータを設けてワイヤ駆動
により制御するのが一般である。そのため、ワイヤをか
なり長く複雑に引き回す必要があり、ロボットハンド先
端側の関節駆動ワイヤほど引き回す途中でワイヤに摩擦
力が働く結果となり、モータ側あるいはその途中の部分
でワイヤの張力から指先力を計測しようとしても正確に
計測できないという欠点があった。Further, in order to drive each finger joint of a robot hand having a plurality of fingers, it is difficult to miniaturize an actuator such as a motor. Therefore, a motor is not incorporated in each joint, and the motor is placed at a position apart from the joint. It is generally provided and controlled by wire drive. Therefore, it is necessary to route the wire in a complicated manner for a long time.As a result, a frictional force acts on the wire during the routing of the joint drive wire on the tip side of the robot hand, and the fingertip force is measured from the tension of the wire on the motor side or in the middle. There was a drawback that even if you tried, you could not measure accurately.
【０００６】さらに、これらの問題を解決するために特
願平３−９３０２０号に記載されたような指先感圧セン
サ装置も考案されている。しかしながら、この指先感圧
センサ装置では指先に作用している接触力の大きさは精
度良く測定できても、その力の作用方向を検出すること
はできない。また、指先の圧力検出領域部以外に不意の
外力が加わったり、あるいは何かに接触するといったよ
うな場合にはその力を測定できない等の問題がある。Further, in order to solve these problems, a fingertip pressure sensitive sensor device as described in Japanese Patent Application No. 3-93020 has been devised. However, with this fingertip pressure-sensitive sensor device, even if the magnitude of the contact force acting on the fingertip can be accurately measured, the action direction of the force cannot be detected. Further, there is a problem that the force cannot be measured when an unexpected external force is applied to something other than the pressure detection area of the fingertip or when something touches something.
【０００７】[0007]
【発明が解決しようとする課題】このように複数の指を
持つロボットハンドで対象物を把持したり、対象物を操
る作業を行わせるには、指先に装着できる程度に小型
で、しかも信号処理が容易で、精度良く接触力の測定が
行え、さらに作用した力の方向が検出できるような触覚
センサが要求される。しかしながら、これらの要求を満
たす触覚センサは存在していないのが実情である。As described above, in order to perform an operation of gripping an object or manipulating an object with a robot hand having a plurality of fingers, the signal processing is small enough to be attached to a fingertip. A tactile sensor that can easily measure the contact force with high accuracy and can detect the direction of the applied force is required. However, the reality is that there are no tactile sensors that meet these requirements.
【０００８】そこで本発明は、これらの要求を満たして
対象物との接触力およびその接触力検出領域以外に加わ
る外力も含めて早い応答で精度良くその作用方向まで検
出することができる触覚センサ装置を提供することを目
的としている。In view of the above, the present invention provides a tactile sensor device that satisfies these requirements and can detect the contact force with an object and the external force applied to areas other than the contact force detection area with a fast response and high accuracy. Is intended to provide.
【０００９】[0009]
【課題を解決するための手段】上記の目的を達成するた
めに本発明は、弾性部材で形成され、内部に非圧縮性流
体が充填されるキャップと、キャップ内の非圧縮性流体
の圧力変化を検出する圧力検出器と、変形量が検出され
る梁部が設けられるとともにキャップに嵌合してキャッ
プを保持する円筒保持部とを有する触覚センサ装置とし
た。また、梁部の変形量は例えば歪センサを用いて検出
するようにした。In order to achieve the above object, the present invention provides a cap formed of an elastic member and filled with an incompressible fluid, and a pressure change of the incompressible fluid in the cap. The tactile sensor device has a pressure detector for detecting the pressure, a beam portion for detecting the deformation amount, and a cylindrical holding portion that fits in the cap and holds the cap. Further, the deformation amount of the beam portion is detected by using, for example, a strain sensor.
【００１０】[0010]
【作用】以上のように構成された発明によれば、保持円
筒部に梁部を設け、この梁部の微小変形を検出できるよ
うにしたので、キャップに作用する外力の作用方向を検
出することができる。According to the invention constructed as described above, since the beam portion is provided in the holding cylindrical portion and the minute deformation of the beam portion can be detected, it is possible to detect the acting direction of the external force acting on the cap. You can
【００１１】そして、指先に装着できる程度に小型で、
しかも信号処理が容易で、精度よく接触力の測定が行え
る。また、弾性キャップ上のいかなる部分に加わった外
力もその作用方向を含めて検出することができる。It is small enough to be attached to the fingertip,
Moreover, signal processing is easy and the contact force can be measured accurately. Further, an external force applied to any part on the elastic cap can be detected including its acting direction.
【００１２】[0012]
【実施例】以下、図面を参照して本発明の実施例を説明
する。図１は本発明に係る触覚センサ装置を示す斜視図
および分解図、図２および図３は触覚センサ装置の縦方
向鉛直断面図および縦方向水平断面図である。これらの
図において１は例えばロボットハンド本体に設けられた
指を示し、回転軸からなる関節２を介して触覚センサ部
３に接続されている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view and an exploded view showing a tactile sensor device according to the present invention, and FIGS. 2 and 3 are a vertical vertical sectional view and a vertical horizontal sectional view of the tactile sensor device. In these drawings, reference numeral 1 denotes a finger provided on the main body of the robot hand, for example, which is connected to the tactile sensor unit 3 via a joint 2 composed of a rotating shaft.
【００１３】触覚センサ部３は、接触対象になじみやす
いようにシリコーンゴムなどの弾性材で形成されたキャ
ップ４と、このキャップ４を固定するための指先保持部
材９と、キャップ４に作用する接触力を圧力として検出
するための圧力検出器６とを有している。The tactile sensor unit 3 has a cap 4 formed of an elastic material such as silicone rubber so as to be easily adapted to a contact object, a fingertip holding member 9 for fixing the cap 4, and a contact acting on the cap 4. And a pressure detector 6 for detecting force as pressure.
【００１４】キャップ４には、その内部に、キャップ４
外面に沿うように中空状の液体充填層５が設けられてお
り、この液体充填層５内には非圧縮性の流体（キャップ
４を膨潤させない例えばひまし油）が充填されている。
また液体充填層５は、指の軸方向に延びる管部７を介し
て圧力検出器６の受圧部と接続している。圧力検出器６
は、例えばダイヤフラム方式の半導体圧力センサを内蔵
している。The cap 4 has a cap 4 inside it.
A hollow liquid-filled layer 5 is provided along the outer surface, and an incompressible fluid (for example, castor oil that does not swell the cap 4) is filled in the liquid-filled layer 5.
The liquid-filled layer 5 is connected to the pressure receiving portion of the pressure detector 6 via a tube portion 7 extending in the axial direction of the finger. Pressure detector 6
Incorporates, for example, a diaphragm type semiconductor pressure sensor.
【００１５】キャップ４と圧力検出器６との間には、両
者を結合するように指先保持部材９が配置されている。
指先保持部材９には、一端を指先保持部材９に固定して
突出した保持円筒部８が設けられており、その他端はキ
ャップ４内の管部７周囲に嵌合するようになっている。A fingertip holding member 9 is arranged between the cap 4 and the pressure detector 6 so as to connect them.
The fingertip holding member 9 is provided with a holding cylindrical portion 8 having one end fixed to the fingertip holding member 9 and protruding, and the other end fitted to the periphery of the tube portion 7 in the cap 4.
【００１６】保持円筒部８は、図４に示すように、上下
２ケ所および左右２ケ所の計４ケ所に、薄い板状の梁部
10を有し、それぞれの表面には歪ゲージ11が貼設されて
いる。また、保持円筒部８の各部の寸法は同図(d),(e)
内に記載したようになっている。これらの寸法はキャッ
プ４の先端に500gf の力が作用した場合にも耐え得るよ
うに設計されたものであるが、もちろん他の寸法に設定
することも可能である。なお、保持円筒部８は例えばア
ルミニウム合金からなり、ワイヤカット放電加工やスリ
ット加工などにより製作されている。As shown in FIG. 4, the holding cylindrical portion 8 has a thin plate-like beam portion at a total of four places, that is, two places at the top and bottom and two places at the left and right.
Strain gauge 11 is attached to each surface. The dimensions of each part of the holding cylindrical portion 8 are shown in FIGS.
It is as described inside. These dimensions are designed to withstand a force of 500 gf applied to the tip of the cap 4, but it is of course possible to set other dimensions. The holding cylindrical portion 8 is made of, for example, an aluminum alloy, and is manufactured by wire cut electric discharge machining, slit machining, or the like.
【００１７】なお、圧力検出器６および歪みゲージ11か
らの出力信号は、それぞれ図示しない検出制御部に送ら
れ、増幅器で増幅されて電圧信号として出力されるよう
に構成されている。以上のような構成からなる本発明の
触覚センサ装置による、接触力検出のしくみについて説
明する。The output signals from the pressure detector 6 and the strain gauge 11 are sent to a detection control unit (not shown), amplified by an amplifier and output as a voltage signal. The mechanism of contact force detection by the tactile sensor device of the present invention having the above-described configuration will be described.
【００１８】前述のように、キャップ４には非圧縮性流
体が充填された液体充填層５が設けられている。この液
体充填層５は、キャップ４の外面で実際に作業を行うと
きに対象物に接触力を付与する領域（指の腹の部分）を
覆い得る周方向および長手方向に沿った形状に薄く延び
るよう形成されている。これにより、対象物との接触で
生じる力を検出できる領域が大きくとれ、操作時に対象
物との接触位置が大きく変化するような場合でもその影
響を受けることがない。また、キャップ４上面は爪のよ
うに肉厚状の圧力不感帯になっており、指の腹の部分が
受けた外力に抗する役目を果たす。As described above, the cap 4 is provided with the liquid filling layer 5 filled with the incompressible fluid. The liquid-filled layer 5 thinly extends in a shape along the circumferential direction and the longitudinal direction capable of covering a region (a part of the finger pad) that gives a contact force to an object when actually performing an operation on the outer surface of the cap 4. Is formed. As a result, a large area in which the force generated by the contact with the object can be detected can be taken, and even if the contact position with the object changes significantly during the operation, it is not affected. Further, the upper surface of the cap 4 is a thick pressure dead zone like a nail, and serves to resist an external force received by the pad of the finger.
【００１９】まず、キャップ４の腹の部分に力が加わっ
た場合、キャップ４内に充填された非圧縮性流体が液体
充填層５の容積を変化させる。この容積変化が管部７を
介して圧力検出器６の受圧部に与えられ、容積変化に伴
う圧力変化が検出される。つまり、キャップ４に加わっ
た外力の大きさは非圧縮性流体の圧力変化を利用して検
出されることになる。First, when a force is applied to the belly portion of the cap 4, the incompressible fluid filled in the cap 4 changes the volume of the liquid filling layer 5. This volume change is given to the pressure receiving portion of the pressure detector 6 via the pipe portion 7, and the pressure change due to the volume change is detected. That is, the magnitude of the external force applied to the cap 4 is detected by utilizing the pressure change of the incompressible fluid.
【００２０】一方、キャップ４に力が加わると、キャッ
プ４を固定している保持円筒部８の板状の梁部10が微小
変形して歪が発生する。この歪は梁部10に貼設された歪
ゲージ11に伝わり、その出力信号から力の作用方向が検
出される。つまり、外力の方向は梁部の微小変形を利用
して検出されることになる。On the other hand, when a force is applied to the cap 4, the plate-shaped beam portion 10 of the holding cylindrical portion 8 which fixes the cap 4 is slightly deformed to generate distortion. This strain is transmitted to the strain gauge 11 attached to the beam portion 10, and the acting direction of the force is detected from the output signal thereof. That is, the direction of the external force is detected by utilizing the microdeformation of the beam portion.
【００２１】また、歪ゲージ11の出力を利用することに
よって、外力の大きさも検出することが可能である。例
えば、キャップ４の爪の部分に外力が加わった場合、圧
力検出器６による圧力検出は困難であるが、歪ゲージ11
の出力により外力の大きさおよび方向を同時に検出する
ことが可能になる。By using the output of the strain gauge 11, the magnitude of the external force can be detected. For example, when an external force is applied to the claw portion of the cap 4, it is difficult for the pressure detector 6 to detect the pressure, but the strain gauge 11
It becomes possible to detect the magnitude and the direction of the external force at the same time.
【００２２】このように本発明によれば、保持円筒部に
梁部を設け、この梁部の微小変形を検出できるようにし
たので、キャップに作用する外力の作用方向を検出する
ことができる。また、指の腹の部分のように圧力検出領
域のみならず、指の爪の部分のように圧力不感帯に外力
が作用した場合にもその作用方向が測定される。したが
って、触覚センサ装置のいかなる部分に作用する外力の
方向も検出が可能となるので、触覚センサ装置の作業環
境内での対象物との接触状態を確実に把握でき、また障
害物の位置を知ることもできるようになる。As described above, according to the present invention, since the beam portion is provided on the holding cylindrical portion and the minute deformation of the beam portion can be detected, the acting direction of the external force acting on the cap can be detected. In addition, when an external force acts not only on the pressure detection area such as the finger pad but also on the pressure dead zone such as the fingernail, the acting direction is measured. Therefore, the direction of the external force acting on any part of the tactile sensor device can be detected, so that the contact state of the tactile sensor device with the object in the working environment can be surely grasped and the position of the obstacle can be known. You will also be able to do that.
【００２３】また、本発明の触覚センサ装置は例えば図
５に示されるような形態でロボットハンド20に適用する
ことができる。ここでのロボットハンド20は４本の指を
有し、それぞれの指に触覚センサ部３が設けられてい
る。このように本発明の触覚センサ装置３をロボットハ
ンド20に適用すれば、筆記具22から受ける筆圧およびそ
の方向が各指で確実に検出されるので、同図に示すよう
な構成によって人間により近い筆記動作を行わせること
ができる。Further, the tactile sensor device of the present invention can be applied to the robot hand 20 in the form as shown in FIG. 5, for example. The robot hand 20 here has four fingers, and the tactile sensor unit 3 is provided on each finger. When the tactile sensor device 3 of the present invention is applied to the robot hand 20 as described above, the writing pressure received from the writing instrument 22 and the direction thereof can be reliably detected by each finger, so that the configuration shown in FIG. It is possible to make a writing action.
【００２４】また、キャップ４および圧力検出器６が一
体となって指先保持部材９を介して指１に装着されてい
るので、装置の取付け，取換えが簡単であり、指先の機
能やロボットハンドの動作が制限されるようなことも全
くない。なお、本発明は上述した実施例に限定されるも
のではなく、種々の変形が可能である。Further, since the cap 4 and the pressure detector 6 are integrally attached to the finger 1 via the fingertip holding member 9, it is easy to attach and replace the device, and the function of the fingertip and the robot hand. There is no restriction on the operation of. It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made.
【００２５】例えば、上記実施例では保持円筒部８に計
４カ所の梁部10が設けられているが、検出精度がそれ程
要求されない場合や、所定の方向の力のみを検出するだ
けでよい場合には梁部の数を３つ以下に減らすことが可
能である。For example, in the above embodiment, the holding cylindrical portion 8 is provided with the beam portions 10 at a total of four places. However, when the detection accuracy is not so required, or when only the force in the predetermined direction is required to be detected. It is possible to reduce the number of beams to three or less.
【００２６】また、上記実施例では梁部に貼設された歪
センサによって梁部の微小変形が検出されているが、他
のセンサを利用して梁部の微小変形を検出してももちろ
ん構わない。Further, in the above embodiment, the strain sensor attached to the beam portion detects the microdeformation of the beam portion. However, it is of course possible to detect the microdeformation of the beam portion using another sensor. Absent.
【００２７】[0027]
【発明の効果】以上のように本発明によれば、保持円筒
部に梁部を設け、この梁部の微小変形を検出できるよう
にしたので、キャップに作用する外力の作用方向を検出
することができる。As described above, according to the present invention, since the beam portion is provided in the holding cylindrical portion and the minute deformation of the beam portion can be detected, the acting direction of the external force acting on the cap can be detected. You can
【００２８】また、ロボットハンドで対象物を把持した
り、あるいは対象物を操る作業を行わせる場合などを想
定して、指先に装着できる程度に小形化が容易で、しか
も信号処理が複雑になることなく、その作用方向も含め
て精度よく接触力が測定できる。In addition, assuming that the robot hand holds an object or manipulates the object, it is easy to reduce the size so that it can be attached to a fingertip, and signal processing becomes complicated. It is possible to accurately measure the contact force including the action direction.
【図１】本発明に係る触覚センサ装置を示す斜視図およ
び分解図。FIG. 1 is a perspective view and an exploded view showing a tactile sensor device according to the present invention.
【図２】触覚センサ装置の縦方向鉛直断面図。FIG. 2 is a vertical cross sectional view of a tactile sensor device.
【図３】触覚センサ装置の縦方向水平断面図。FIG. 3 is a vertical horizontal sectional view of the tactile sensor device.
【図４】保持円筒部に設けられた梁部を示す断面図。FIG. 4 is a cross-sectional view showing a beam portion provided on a holding cylindrical portion.
【図５】本発明の触覚センサ装置をロボットハンドに適
用した状態を示す斜視図。FIG. 5 is a perspective view showing a state in which the tactile sensor device of the present invention is applied to a robot hand.
１…指 ２…関節 ３…触覚センサ部 ４…キャップ ５…液体充填層 ６…圧力検出器 ７…管部 ８…円筒保持部 ９…指先保持部材 10…梁部 11…歪ゲージ 20…ロボットハンド DESCRIPTION OF SYMBOLS 1 ... Finger 2 ... Joint 3 ... Tactile sensor part 4 ... Cap 5 ... Liquid filling layer 6 ... Pressure detector 7 ... Pipe part 8 ... Cylindrical holding part 9 ... Fingertip holding member 10 ... Beam part 11 ... Strain gauge 20 ... Robot hand
Claims (2)
が充填されるキャップと、 前記キャップ内の前記非圧縮性流体の圧力変化を検出す
る圧力検出器と、 変形量が検出される梁部が設けられ、前記キャップに嵌
合して前記キャップを保持する円筒保持部と、を有する
ことを特徴とする触覚センサ装置。1. A cap formed of an elastic member, the inside of which is filled with an incompressible fluid, a pressure detector for detecting a pressure change of the incompressible fluid in the cap, and an amount of deformation is detected. A tactile sensor device, comprising: a beam portion, and a cylindrical holding portion that fits into the cap and holds the cap.
することを特徴とする請求項１記載の触覚センサ装置。2. The tactile sensor device according to claim 1, wherein the deformation amount of the beam portion is detected by using a strain sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22982192A JP3279664B2 (en) | 1992-08-28 | 1992-08-28 | Tactile sensor device and robot hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22982192A JP3279664B2 (en) | 1992-08-28 | 1992-08-28 | Tactile sensor device and robot hand |
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| Publication Number | Publication Date |
|---|---|
| JPH06182688A true JPH06182688A (en) | 1994-07-05 |
| JP3279664B2 JP3279664B2 (en) | 2002-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22982192A Expired - Fee Related JP3279664B2 (en) | 1992-08-28 | 1992-08-28 | Tactile sensor device and robot hand |
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| JP (1) | JP3279664B2 (en) |
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| US6622575B1 (en) | 1999-07-07 | 2003-09-23 | Agency Of Industrial Science And Technology | Fingertip-mounted six-axis force sensor |
| JP2003275984A (en) * | 2001-11-09 | 2003-09-30 | Korea Inst Of Science & Technology | Robot hand and robot hand finger |
| JP2004020368A (en) * | 2002-06-17 | 2004-01-22 | Japan Science & Technology Corp | High sensitivity torque sensor adjusting method applicable to robot knuckle or the like |
| US7549688B2 (en) | 2003-09-12 | 2009-06-23 | Honda Motor Co., Ltd. | Robot hand |
| JP2009154234A (en) * | 2007-12-26 | 2009-07-16 | Honda Motor Co Ltd | Robot hand device |
| JP2009297849A (en) * | 2008-06-16 | 2009-12-24 | Toyota Industries Corp | Tactile sensor mechanism for robot hand and robot having the tactile sensor mechanism for robot hand |
| JP2010201538A (en) * | 2009-03-02 | 2010-09-16 | Yaskawa Electric Corp | Multifinger hand, robot, and method of gripping multifinger hand |
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- 1992-08-28 JP JP22982192A patent/JP3279664B2/en not_active Expired - Fee Related
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| US6622575B1 (en) | 1999-07-07 | 2003-09-23 | Agency Of Industrial Science And Technology | Fingertip-mounted six-axis force sensor |
| JP2003275984A (en) * | 2001-11-09 | 2003-09-30 | Korea Inst Of Science & Technology | Robot hand and robot hand finger |
| JP2004020368A (en) * | 2002-06-17 | 2004-01-22 | Japan Science & Technology Corp | High sensitivity torque sensor adjusting method applicable to robot knuckle or the like |
| US7549688B2 (en) | 2003-09-12 | 2009-06-23 | Honda Motor Co., Ltd. | Robot hand |
| JP2009154234A (en) * | 2007-12-26 | 2009-07-16 | Honda Motor Co Ltd | Robot hand device |
| JP2009297849A (en) * | 2008-06-16 | 2009-12-24 | Toyota Industries Corp | Tactile sensor mechanism for robot hand and robot having the tactile sensor mechanism for robot hand |
| JP2010201538A (en) * | 2009-03-02 | 2010-09-16 | Yaskawa Electric Corp | Multifinger hand, robot, and method of gripping multifinger hand |
| JP2012024884A (en) * | 2010-07-23 | 2012-02-09 | Ihi Corp | Gripping/conveying device |
| US8951065B2 (en) | 2010-09-30 | 2015-02-10 | Yazaki Corporation | Connection structure of conductive paths |
| JP2014076524A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand, robot device and method of manufacturing robot hand |
| JP2014083637A (en) * | 2012-10-24 | 2014-05-12 | Toyota Industries Corp | Robot hand |
| JP2017202534A (en) * | 2016-05-10 | 2017-11-16 | 東日本旅客鉄道株式会社 | Magic hand |
| CN107351102A (en) * | 2017-09-13 | 2017-11-17 | 武汉科技大学 | Fiber grating force-touch sensor, robot and its manipulator finger tip |
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