JPS61126408A - Slide detector - Google Patents
Slide detectorInfo
- Publication number
- JPS61126408A JPS61126408A JP24699284A JP24699284A JPS61126408A JP S61126408 A JPS61126408 A JP S61126408A JP 24699284 A JP24699284 A JP 24699284A JP 24699284 A JP24699284 A JP 24699284A JP S61126408 A JPS61126408 A JP S61126408A
- Authority
- JP
- Japan
- Prior art keywords
- sensation
- sliding
- pressure
- finger
- pressure sensation
- 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.)
- Pending
Links
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
リモートコントロールの化ロボット（把持ロボット）に
使用するすベシ検出器に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a grip detector used in a remote-controlled robot (gripping robot).
なし
〔発明の解決しようとする問題点〕
微細感覚をもつ化ロボットを開発しようとしているが、
該化ロボットの指感覚を操作者に返えし、対象物を意図
通シに把持できるようにする必要がある。しかしながら
、感覚のうち圧覚なとは比較的にたやすく実現できるが
、物を緩やかに把持する際必要なすベシ感覚は実現が困
難とされている。None [Problem to be solved by the invention] We are trying to develop a robot with minute senses, but
It is necessary to return the finger sensation of the robot to the operator so that the robot can grasp the object as intended. However, while the pressure sensation is relatively easy to achieve, it is difficult to achieve the pressure sensation required when gently grasping an object.
本発明の目的は、強い力で把持すると破損又はつぶれる
おそれのある対象物が、化ロボットよりすベシ落ちそう
な感覚が生じたときには、把持力をやや強めるようにし
て落下を防止する助けとなるすベシ検出器を提供するに
ある。An object of the present invention is to help prevent an object from falling by slightly increasing the gripping force when it feels like an object that might be damaged or crushed if gripped with strong force is about to fall from the robot. To provide a comprehensive detector.
本発明は圧覚発生点を碁盤目状に配置し、該圧覚発生点
を切り換え移動させることにより該発生点上の指にすべ
り感覚を発生させ、前記目的を達成するよう構成したも
のである。The present invention is configured to achieve the above object by arranging pressure sensation generating points in a grid pattern and by switching and moving the pressure sensation generating points to generate a sliding sensation in the finger on the pressure generating points.
以下第１図を参照し、本発明の一実施例について説明す
る。An embodiment of the present invention will be described below with reference to FIG.
第１図はすべり感覚発生機構の構成を示し１は人間の指
、２は圧覚発生装置、３はアンプ、４は計算機である。FIG. 1 shows the structure of the slip sensation generating mechanism, and 1 is a human finger, 2 is a pressure sensation generating device, 3 is an amplifier, and 4 is a computer.
次に前記実施例の作用について説明する。Next, the operation of the above embodiment will be explained.
振動体や電極等の圧覚発生装置２を碁盤目状に配置して
おく。この上に人間の指１を接触させる。Pressure sensation generating devices 2 such as vibrating bodies and electrodes are arranged in a grid pattern. A human finger 1 is brought into contact with this.
すべり感覚には、その方向と速度があるが、これらの情
報は、計算機４に取り込まれているものとする。計算機
４はこれらの情報に基づき碁盤目状に配置された圧覚発
生機構２のうち、すべりの方向に存在する圧覚発生機構
２をすべりの向きに順次すべり速度に対応した時間、間
隔で作用させてゆくものである。このようにすべり感覚
を圧覚の移動に置き換え、碁盤目状に配置した圧覚発生
装置２０１つあるいは複数個の圧覚発生装置をすべり方
向、速度に従って順次切り換えて作用させることにより
、任意の方向、速度のすべり感覚を人間の指に伝達する
ものである。The sense of slipping includes its direction and speed, and it is assumed that these pieces of information are captured in the computer 4. Based on this information, the computer 4 sequentially operates the pressure sensation generating mechanisms 2 existing in the sliding direction out of the pressure sensing mechanisms 2 arranged in a grid pattern in the sliding direction at times and intervals corresponding to the sliding speed. It's something to go on. In this way, the sliding sensation is replaced with the movement of the pressure sensation, and by sequentially switching and operating one or more pressure sensation generation devices 20 arranged in a grid pattern according to the sliding direction and speed, it is possible to move the pressure sensation in any direction and speed. It transmits the sensation of slippage to human fingers.
〔発明の効果〕
前述のとおり、本発明のすべり検出器は、圧覚発生装置
を碁盤目状に配置し、圧覚発生点をすベシ方向と速度に
従って順次作用させるようにしたので、人間の指にすベ
シ感覚を発生させて、すべり感覚を人間に伝達すること
ができる。なお上記装置においてすべり速度を０とすれ
ば、圧覚の伝達も可能である。[Effects of the Invention] As mentioned above, in the slip detector of the present invention, the pressure sensation generating devices are arranged in a grid pattern, and the pressure sensation generating points are made to act sequentially according to the direction and speed, so that the slip detector of the present invention does not touch the human finger. It is possible to generate a slippery sensation and transmit the slippery sensation to humans. Note that in the above device, if the sliding speed is set to 0, pressure sensation can also be transmitted.
第１図は本発明に係るすべり検出器の機構図である。
１・・・指、２・・・圧覚発生実直、３・・・アンプ、
２゜３．４・・・すべり検出器、５・・・対象物。FIG. 1 is a mechanical diagram of a slip detector according to the present invention. 1... Finger, 2... Actual pressure sensation generation, 3... Amplifier,
2゜3.4... Slip detector, 5... Target object.
Claims (1)
が取り込まれた計算機と；この計算機よりの信号を増幅
するアンプと；圧覚発生点を碁盤目状に配置し、該アン
プをへて伝えられた前記信号により順次圧覚発生点を切
り換え移動させ、該発生点上の指にすべり感覚を発生さ
せる圧覚発生装置とを有してなるすべり検出器。a computer into which a slip sensation consisting of the direction and velocity of an object to be grasped is captured; an amplifier that amplifies the signal from this computer; pressure sensation generating points are arranged in a grid pattern, and the signal is transmitted through the amplifier; A slip detector comprising: a pressure sensation generating device that sequentially switches and moves a pressure sensation generation point to generate a slip sensation on a finger on the pressure sensation generation point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24699284A JPS61126408A (en) | 1984-11-24 | 1984-11-24 | Slide detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24699284A JPS61126408A (en) | 1984-11-24 | 1984-11-24 | Slide detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61126408A true JPS61126408A (en) | 1986-06-13 |
Family
ID=17156762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24699284A Pending JPS61126408A (en) | 1984-11-24 | 1984-11-24 | Slide detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61126408A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH023387U (en) * | 1988-06-13 | 1990-01-10 | ||
| US5883175A (en) * | 1994-09-05 | 1999-03-16 | Daikin Industries Ltd. | Stainproofing composition having water-and-oil-repellency |
-
1984
- 1984-11-24 JP JP24699284A patent/JPS61126408A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH023387U (en) * | 1988-06-13 | 1990-01-10 | ||
| US5883175A (en) * | 1994-09-05 | 1999-03-16 | Daikin Industries Ltd. | Stainproofing composition having water-and-oil-repellency |
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