JP2003337071A - Tactile sensor - Google Patents
Tactile sensorInfo
- Publication number
- JP2003337071A JP2003337071A JP2002145401A JP2002145401A JP2003337071A JP 2003337071 A JP2003337071 A JP 2003337071A JP 2002145401 A JP2002145401 A JP 2002145401A JP 2002145401 A JP2002145401 A JP 2002145401A JP 2003337071 A JP2003337071 A JP 2003337071A
- Authority
- JP
- Japan
- Prior art keywords
- tactile sensor
- coil
- induction
- induction coil
- elastic body
- 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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Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、触覚センサに関するも
のであり、より詳細には、被接触物との接触時に接触面
に作用する圧力及び剪断力を検出する触覚センサに関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile sensor, and more particularly to a tactile sensor for detecting pressure and shearing force acting on a contact surface when contacting an object to be contacted.
【０００２】[0002]
【従来技術】工業用ロボット等のマニピュレータに配設
される触覚センサとして、ひずみゲージ等を用いた力覚
センサや，感圧導電性ゴム、シリコン・ピエゾ圧力セン
サ、更には、光学的検出手段等を利用した力覚センサが
開発されている。2. Description of the Related Art As a tactile sensor installed in a manipulator of an industrial robot or the like, a force sensor using a strain gauge or the like, a pressure-sensitive conductive rubber, a silicon / piezo pressure sensor, an optical detecting means, etc. A force sensor utilizing the has been developed.
【０００３】一般に、触覚センサは、接触面に作用する
圧力を検出するように構成され、マニピュレータの制御
部は、接触圧の検出値に基づいてマニピュレータの把持
力を制御する。ここに、ロボット等を家庭内の生活支
援、例えば、高齢者の生活支援等の用途に供する社会的
要請が、近年殊に高まっている。この場合、ロボット等
は、マニピュレータの手先部分を器用に作動し、多種多
様な生活物品や食品等の握持、移動、昇降等を円滑に行
わなければならない。このため、マニピュレータの手先
部分に作用する圧力のみならず、剪断力をも触覚センサ
で検出し、高精度の把持力制御等を実行可能にする必要
が生じている。Generally, the tactile sensor is constructed to detect the pressure acting on the contact surface, and the control unit of the manipulator controls the gripping force of the manipulator based on the detected value of the contact pressure. In recent years, the social demand for providing robots and the like for life support at home, for example, life support for the elderly, has increased in recent years. In this case, the robot or the like needs to dexterously operate the hand part of the manipulator to smoothly grip, move, and ascend and descend a variety of daily goods and foods. For this reason, it is necessary to detect not only the pressure acting on the hand portion of the manipulator but also the shearing force by the tactile sensor so that highly accurate gripping force control and the like can be executed.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、従来構
成の触覚センサをこの種の用途に利用し得たとしても、
触覚センサは、装置構成が大型且つ複雑であったり、高
価格の機器として市場に供給されることから、生活支援
ロボット等に使用するには適していない。このため、小
型で薄く、しかも、安価な装置として市場に供給可能な
触覚センサを開発する必要がある。However, even if the conventional tactile sensor can be used for this kind of application,
The tactile sensor is not suitable for use in a life support robot or the like because its device configuration is large and complicated, and it is supplied to the market as a high-priced device. Therefore, it is necessary to develop a tactile sensor that can be supplied to the market as a small, thin, and inexpensive device.
【０００５】ここに、ひずみゲージ等を用いた従来の触
覚センサは、接触面に作用する剪断力を検出するように
は構成されておらず、しかも、比較的大型の全体形状を
有する高額な機器であり、生活支援ロボット等の手先部
分に配設する触覚センサとしては好適に採用し難い。ま
た、感圧導電性ゴム等を用いた触覚センサの機構を利用
し、剪断力を測定可能な触覚センサを設計した場合、構
造が複雑化することから、その実用化は、困難である。Here, the conventional tactile sensor using a strain gauge or the like is not configured to detect the shearing force acting on the contact surface, and is an expensive device having a relatively large overall shape. Therefore, it is difficult to suitably employ it as a tactile sensor arranged in the hand part of a life support robot or the like. Further, when a tactile sensor capable of measuring a shearing force is designed by utilizing the mechanism of the tactile sensor using pressure-sensitive conductive rubber or the like, its structure is complicated, and therefore its practical application is difficult.
【０００６】圧力及び剪断力の検出を意図した触覚セン
サとして、板状の圧電体及び電極を交互に積層した構造
を有する触覚センサが特開昭60-34293号公報及び特開昭
60-34294号公報に開示されている。この形式の触覚セン
サは、分極処理を施した複数の圧電体を多層に積層した
比較的複雑且つ厚い構造を有し、価格的にも高価であ
る。また、突出部を備えた感圧素子を用いて圧力及び剪
断力を検出するようにした触覚センサが特開昭60-34295
号公報に開示されている。この構造の触覚センサは、突
出部に作用する横方向の力により感圧素子に不均一な圧
力が作用する現象を利用したものであり、突出部を常に
表面から突出させなければならない。As a tactile sensor intended to detect pressure and shearing force, a tactile sensor having a structure in which plate-shaped piezoelectric bodies and electrodes are alternately laminated is disclosed in JP-A-60-34293 and JP-A-60-34293.
No. 60-34294. This type of tactile sensor has a relatively complicated and thick structure in which a plurality of polarized piezoelectric bodies are laminated in multiple layers, and is expensive in price. A tactile sensor that detects pressure and shearing force using a pressure sensitive element having a protrusion is disclosed in Japanese Patent Laid-Open No. 34295/1985.
It is disclosed in the publication. The tactile sensor having this structure utilizes a phenomenon in which a non-uniform pressure acts on the pressure sensitive element due to a lateral force acting on the protruding portion, and the protruding portion must always be projected from the surface.
【０００７】他の構造の触覚センサとして、垂直力に応
じて縦方向に変位し且つ剪断力に応答して横方向に変位
するピンを用いた触覚センサが、特開昭58-192790号公
報に開示されている。この構成の触覚センサは、圧力及
び剪断力に相応して変位する多数のピンを用いた複雑且
つ大型の構造を備えるばかりでなく、ピン機構の最小間
隔に限界があることから、高密度に力の分布を測定する
ように構成することはできない。As a tactile sensor having another structure, a tactile sensor using a pin that is vertically displaced according to a vertical force and laterally displaced in response to a shearing force is disclosed in Japanese Patent Laid-Open No. 58-192790. It is disclosed. The tactile sensor of this structure not only has a complicated and large structure using a large number of pins that are displaced in response to pressure and shearing force, but also has a limitation on the minimum distance between the pin mechanisms, resulting in a high density of force. Cannot be configured to measure the distribution of.
【０００８】かくして、従来の触覚センサにより圧力及
び剪断力の双方を検出しようとした場合、マニピュレー
タの手先部分の構造が大型化又は複雑化したり、或い
は、触覚センサの価格が高額化するなどの問題が生じて
おり、このような問題を解消した新規構造の触覚センサ
を開発する必要が生じている。Thus, when it is attempted to detect both the pressure and the shearing force with the conventional tactile sensor, the structure of the hand part of the manipulator becomes large or complicated, or the price of the tactile sensor becomes expensive. Therefore, it is necessary to develop a tactile sensor having a new structure that solves such a problem.
【０００９】本発明は、このような課題に鑑みてなされ
たものであり、その目的とするところは、マニピュレー
タの手先部分に作用する圧力及び剪断力を検出すること
ができ、小型で薄く、しかも、安価に製造し得る触覚セ
ンサを提供することにある。The present invention has been made in view of the above problems, and an object of the present invention is to detect the pressure and shearing force acting on the hand portion of the manipulator, which is small, thin, and The object is to provide a tactile sensor that can be manufactured at low cost.
【００１０】[0010]
【課題を解決するための手段】本発明は、上記目的を達
成すべく、被接触物に接触し、接触時に接触面に作用す
る圧力及び剪断力を検出する触覚センサにおいて、表面
と直交する圧縮力に応答して弾力的に圧縮変形し且つ表
面と平行に作用する剪断力に応答して弾力的に剪断変形
する板状弾性体と、該弾性体の片面に一体的に取付けら
れた励磁コイルと、該弾性体の他面に一体的に取付けら
れた誘導コイルと、前記励磁コイルに高周波電流を通電
する電流供給手段と、前記誘導コイルに発生した誘導電
圧を検出する電圧検出手段とを備え、前記励磁コイルの
磁場により前記誘導コイルに誘導電圧を誘起し、該誘導
電圧を前記電圧検出手段によって検出し、前記誘導電圧
の変化により、前記接触面に作用する圧力及び剪断力を
検出するようにしたことを特徴とする触覚センサを提供
する。In order to achieve the above object, the present invention provides a tactile sensor which is in contact with an object to be contacted and which detects a pressure and a shearing force acting on the contact surface at the time of contact. A plate-like elastic body that elastically compressively deforms in response to a force and elastically shears in response to a shearing force that acts in parallel with the surface, and an exciting coil integrally attached to one surface of the elastic body An induction coil integrally attached to the other surface of the elastic body, a current supply means for supplying a high-frequency current to the exciting coil, and a voltage detection means for detecting an induced voltage generated in the induction coil. , An induction voltage is induced in the induction coil by the magnetic field of the excitation coil, the induction voltage is detected by the voltage detection means, and pressure and shearing force acting on the contact surface are detected by a change in the induction voltage. West Providing tactile sensor, characterized in that.
【００１１】他の観点より、本発明は、このような触覚
センサを備え、電圧検出手段の検出結果に基づいて被接
触物の把持力を調節する把持力制御手段を備えたことを
特徴とするマニピュレータを提供する。From another point of view, the present invention is characterized by including such a tactile sensor and a gripping force control means for adjusting the gripping force of the contacted object based on the detection result of the voltage detecting means. Provide a manipulator.
【００１２】[0012]
【作用】本発明の上記構成によれば、触覚センサの接触
面に圧力が作用すると、弾性体は、その弾性係数に相応
して圧縮変形し、励磁コイル及び誘導コイルの間隔が変
化する。触覚センサの接触面に剪断力が作用すると、弾
性体の剪断変形により励磁コイル及び誘導コイルの相対
位置が変化する。誘導コイルの誘導電圧値は、励磁コイ
ル及び誘導コイルの間隔及び相対位置の変化に応じて変
化する。電圧検出手段が誘導電圧値を検出するので、比
較的簡単な誘導電圧値の演算により、接触面に作用した
圧力及び剪断力を検出することができる。According to the above structure of the present invention, when pressure is applied to the contact surface of the tactile sensor, the elastic body is compressed and deformed according to its elastic coefficient, and the distance between the exciting coil and the induction coil changes. When a shearing force acts on the contact surface of the tactile sensor, the relative position of the exciting coil and the induction coil changes due to the shearing deformation of the elastic body. The induction voltage value of the induction coil changes according to changes in the distance and relative position between the excitation coil and the induction coil. Since the voltage detecting means detects the induced voltage value, the pressure and shearing force acting on the contact surface can be detected by a relatively simple calculation of the induced voltage value.
【００１３】[0013]
【発明の実施の形態】本発明の好適な実施形態におい
て、上記誘導コイルは、第１誘導コイル及び第２誘導コ
イルを直交方向に配向し且つ積層した複層構造を有す
る。第１誘導コイルの誘導電圧は、第１方向（Ｘ方向）
の磁場の移動により変化し、第２誘導コイルの誘導電圧
は、第１方向と直交する第２方向（Ｙ方向）の磁場の移
動により変化する。BEST MODE FOR CARRYING OUT THE INVENTION In a preferred embodiment of the present invention, the induction coil has a multilayer structure in which a first induction coil and a second induction coil are oriented and laminated in an orthogonal direction. The induction voltage of the first induction coil is in the first direction (X direction).
Changes due to the movement of the magnetic field of 1, and the induced voltage of the second induction coil changes due to the movement of the magnetic field in the second direction (Y direction) orthogonal to the first direction.
【００１４】本発明の他の好適な実施形態によれば、上
記誘導コイルは、対称に配列した４つ以上の誘導コイル
部分を単一平面に配置した単層構造を有する。各コイル
部分の誘導電圧は、励磁コイルの磁場の移動により変化
する。According to another preferred embodiment of the present invention, the induction coil has a single layer structure in which four or more symmetrically arranged induction coil portions are arranged in a single plane. The induced voltage in each coil portion changes due to the movement of the magnetic field of the exciting coil.
【００１５】好ましくは、板状弾性体は、５mm以下の厚
さを有し、触覚センサは、７mm以下の厚さを有する。図
1は、本発明の好適な実施形態に係る触覚センサの拡大
縦断面図であり、図２及び図３は、触覚センサの原理を
説明するための斜視図である。また、図４は、誘導コイ
ルのコイル配列を示す平面図である。Preferably, the plate-like elastic body has a thickness of 5 mm or less, and the tactile sensor has a thickness of 7 mm or less. Figure
1 is an enlarged vertical sectional view of a tactile sensor according to a preferred embodiment of the present invention, and FIGS. 2 and 3 are perspective views for explaining the principle of the tactile sensor. FIG. 4 is a plan view showing the coil arrangement of the induction coil.
【００１６】触覚センサ１は、表層被覆２、励磁コイル
３、薄板状弾性体４及び誘導コイル５、６より構成さ
れ、基台７上に取付けられる。基台７は、ロボット等の
マニピュレータの先端部に支持される。The tactile sensor 1 is composed of a surface layer coating 2, an exciting coil 3, a thin plate elastic body 4 and induction coils 5 and 6, and is mounted on a base 7. The base 7 is supported by the tip of a manipulator such as a robot.
【００１７】表層被覆２は、被接触物との接触面を構成
する樹脂フィルム等からなり、励磁コイル３を保護す
る。励磁コイル３は、弾性体４の表面４１に接着され、
誘導コイル５、６は、弾性体４の裏面４２に接着され
る。励磁コイル３及び誘導コイル５、６は、フォトエッ
チング技術等により薄い樹脂基盤５１、６１上に導電材
料を一体成形したものであり、弾性体４は、合成ゴム、
エラストマー又は合成樹脂の一体成形品、スポンジ、或
いは、樹脂発泡成形品等からなり、磁場透過率が優れた
素材のものであることが望ましい。弾性体４は、表層被
覆２に作用する被接触物により弾力的に変形可能な弾性
係数、好ましくは、1×10-2〜1×10-1N/mm3の範囲の体
積弾性率を有する。The surface layer coating 2 is made of a resin film or the like which constitutes a contact surface with an object to be contacted, and protects the exciting coil 3. The exciting coil 3 is adhered to the surface 41 of the elastic body 4,
The induction coils 5 and 6 are bonded to the back surface 42 of the elastic body 4. The exciting coil 3 and the induction coils 5 and 6 are formed by integrally molding a conductive material on thin resin substrates 51 and 61 by a photo etching technique or the like, and the elastic body 4 is a synthetic rubber,
It is desirable that the material is made of an elastomer or synthetic resin integrally molded product, sponge, resin foam molded product, or the like, and has excellent magnetic field transmittance. The elastic body 4 has an elastic coefficient that can be elastically deformed by the contacted object acting on the surface layer coating 2, preferably a volume elastic modulus in the range of 1 × 10 -2 to 1 × 10 -1 N / mm 3. .
【００１８】励磁コイル５が形成する磁場３０の磁束密
度が、図２に概念的に示されている。図２において、磁
場３０が***した部分は、磁束密度が高い部分、即ち、
磁界強度が高い部分を示す。励磁コイル３の全体形状
は、例えば、外形９mm×９mmの四角形の形態に形成され
る。励磁コイル３を構成する導電線３１は、７回巻きの
渦巻き形態に巻回され、導電線３１の各部は、Ｘ方向又
はＹ方向に延びる。磁界の強度は、低電流値の電流を導
電線３１に流した場合（図２（Ｂ））に比べて、高電流
値の電流を導電線３１に流した場合（図２（Ａ））に全
体的に増大するが、磁場３０は、いずれの場合において
も、励磁コイル３の中心部において、高い磁束密度を示
す。The magnetic flux density of the magnetic field 30 formed by the exciting coil 5 is conceptually shown in FIG. In FIG. 2, the portion where the magnetic field 30 is raised is a portion where the magnetic flux density is high, that is,
Indicates a portion where the magnetic field strength is high. The entire shape of the exciting coil 3 is, for example, formed in a quadrangular shape having an outer shape of 9 mm × 9 mm. The conductive wire 31 forming the exciting coil 3 is wound in a spiral shape with seven turns, and each part of the conductive wire 31 extends in the X direction or the Y direction. The strength of the magnetic field is higher when a current having a high current value is applied to the conductive wire 31 (FIG. 2A) than when a current having a low current value is applied to the conductive wire 31 (FIG. 2B). Although it increases overall, the magnetic field 30 shows a high magnetic flux density in the central part of the exciting coil 3 in any case.
【００１９】誘導コイル５は、図４に示す如く、複数列
（本実施形態では３列）のコイル５ａ、５ｂ、５ｃから
構成される。各コイル５ａ、５ｂ、５ｃの導電線は、Ｙ
方向に延びており、Ｘ方向に所定間隔を隔てて整列配置
したセンサアレイが基盤５１上に形成される。各コイル
５ａ、５ｂ、５ｃは、グランドライン５３を介してラン
ド５２に接続される。同様に、誘導コイル6も又、複数
列（本実施形態では３列）のコイル６ａ、６ｂ、６ｃか
ら構成される。各コイル６ａ、６ｂ、６ｃの導電線は、
Ｘ方向に延びており、Ｙ方向に所定間隔を隔てて整列配
置したセンサアレイが基盤６１上に形成される。各コイ
ル６ａ、６ｂ、６ｃは、グランドライン６３を介してラ
ンド６２に接続される。As shown in FIG. 4, the induction coil 5 is composed of a plurality of rows (three rows in this embodiment) of coils 5a, 5b and 5c. The conductive wire of each coil 5a, 5b, 5c is Y
A sensor array that extends in the X-direction and is aligned in the X-direction at a predetermined interval is formed on the base 51. Each coil 5a, 5b, 5c is connected to the land 52 via a ground line 53. Similarly, the induction coil 6 is also composed of a plurality of rows (three rows in the present embodiment) of coils 6a, 6b, 6c. The conductive wire of each coil 6a, 6b, 6c is
A sensor array extending in the X direction and aligned in the Y direction at predetermined intervals is formed on the base 61. The coils 6a, 6b, 6c are connected to the land 62 via the ground line 63.
【００２０】高周波電流が励磁コイル３に通電される
と、励磁コイル３は、図３に示す如く、誘導コイル５、
６に作用する磁場３０を発生させる。磁場３０は、好ま
しくは、四角錐形態に分布し、誘導コイル５、６には、
磁場３０の電磁誘導作用により誘導電圧が誘起する。各
誘導コイル５、６の誘導電圧値は、励磁コイル３と誘導
コイル５、６との相対的な位置関係により変化する。When a high-frequency current is applied to the exciting coil 3, the exciting coil 3 moves to the induction coil 5, as shown in FIG.
A magnetic field 30 acting on 6 is generated. The magnetic field 30 is preferably distributed in the form of a quadrangular pyramid and the induction coils 5, 6 have
An induction voltage is induced by the electromagnetic induction effect of the magnetic field 30. The induction voltage value of each induction coil 5 and 6 changes according to the relative positional relationship between the excitation coil 3 and the induction coils 5 and 6.
【００２１】図１（Ｂ）に示す如く、触覚センサ１の表
面に押圧力Ｐが作用すると、弾性体４は圧縮変形し、励
磁コイル４と誘導コイル５、６とは互いに接近する。コ
イル間の距離に相応した誘導電圧が誘導コイル５、６に
誘起する。これに対し、触覚センサ１の表面と平行な外
力、即ち、剪断力Ｓが作用すると、弾性体４は図１
（Ｃ）に示す如く剪断変形し、誘導電圧値は変化する。
従って、各誘導コイル５、６の誘導電圧は、押圧力Ｐの
作用により全体的に増大するとともに、剪断力Ｓの作用
により相対的に変化する。As shown in FIG. 1B, when the pressing force P acts on the surface of the tactile sensor 1, the elastic body 4 is compressed and deformed, and the exciting coil 4 and the induction coils 5 and 6 come close to each other. An induction voltage corresponding to the distance between the coils is induced in the induction coils 5 and 6. On the other hand, when an external force parallel to the surface of the tactile sensor 1, that is, a shearing force S is applied, the elastic body 4 moves to the position shown in FIG.
As shown in (C), shear deformation occurs and the induced voltage value changes.
Therefore, the induction voltage of each induction coil 5, 6 increases overall due to the action of the pressing force P, and relatively changes due to the action of the shearing force S.
【００２２】剪断力Ｓａ、Ｓｂの作用による典型的な誘
導電圧値の変化が図５に示されている。Ｘ方向の剪断力
Sａが触覚センサ1の表面に作用すると、励磁コイル2
は、基台7に対して、全体的に剪断力Sａ方向に相対変位
し、励磁コイル３が形成する磁場３０も又、剪断力Sａ
の方向に移動する。変位量の増大に伴って、誘導コイル
５ａ、５ｂの誘導電圧値は漸減し、逆に、誘導コイル５
ｃの誘導電圧値は漸増する。他方、剪断力Sａと逆方向
の剪断力Ｓｂが触覚センサ1の表面に作用すると、励磁
コイル２及びその磁場３０は、基台7に対して、全体的
に剪断力Ｓｂ方向に相対変位する。変位量の増大に伴っ
て、誘導コイル５ｃ、５ｂの誘導電圧値は漸減し、逆
に、誘導コイル５ａの誘導電圧値は漸増する。A typical change in the induced voltage value due to the action of the shearing forces Sa and Sb is shown in FIG. Shear force in X direction
When Sa acts on the surface of the tactile sensor 1, the exciting coil 2
Is displaced relative to the base 7 in the direction of the shear force Sa as a whole, and the magnetic field 30 formed by the exciting coil 3 is also displaced by the shear force Sa.
Move in the direction of. With the increase of the displacement amount, the induced voltage values of the induction coils 5a and 5b gradually decrease, and conversely, the induction coil 5a
The induced voltage value of c gradually increases. On the other hand, when a shearing force Sb opposite to the shearing force Sa acts on the surface of the tactile sensor 1, the exciting coil 2 and its magnetic field 30 are displaced relative to the base 7 in the shearing force Sb direction as a whole. As the displacement amount increases, the induction voltage values of the induction coils 5c and 5b gradually decrease, and conversely, the induction voltage value of the induction coil 5a gradually increases.
【００２３】図６は、触覚センサ１を備えたマニピュレ
ータの構成を例示する概略斜視図である。マニピュレー
タ１０は、アーム部１１、伸縮ロッド１２、リンク部材
１３、１４及び開閉作動部材１５を備え、開閉作動部材
１５によって物体Ｗ（仮想線で示す）を握持するように
構成される。伸縮ロッド１２は、アーム部１１の中心部
に配置され、各開閉作動部材１５の基端部は、枢着部１
６によってアーム部１１の側面に枢動可能に取付られ
る。伸縮ロッド１２の伸縮運動は、リンク部材１３、１
４によって開閉作動部材１５の開閉運動に転換する。各
開閉作動部材１５の先端部には、触覚センサ１の基台７
が固定され、３箇所の触覚センサ１は、開閉作動部材１
５の閉作動時に協働して物体Ｗを把持する。FIG. 6 is a schematic perspective view illustrating the configuration of a manipulator having the tactile sensor 1. The manipulator 10 includes an arm portion 11, a telescopic rod 12, link members 13 and 14, and an opening / closing operation member 15, and is configured to hold an object W (shown by a virtual line) by the opening / closing operation member 15. The telescopic rod 12 is arranged at the center of the arm portion 11, and the base end portion of each opening / closing operation member 15 is connected to the pivot portion 1.
It is attached to the side surface of the arm portion 11 by 6 so as to be pivotable. The expansion and contraction movement of the expansion and contraction rod 12 is performed by the link members 13, 1
4, the opening / closing operation member 15 is converted into the opening / closing motion. A base 7 of the tactile sensor 1 is attached to the tip of each opening / closing operation member 15.
Is fixed, and the tactile sensors 1 at three locations are the opening / closing operation members 1
The object W is gripped in cooperation with the closing operation of 5.
【００２４】マニピュレータ１０は更に、開閉作動部材
１５の位置及び作動を制御し、物体Ｗに対するマニピュ
レータ１０の把持力を可変制御する制御装置１６を備え
る。制御装置１６は、触覚センサ１の励磁コイル３に高
周波電流を供給する電流供給部１７、誘導コイルに発生
した誘導電圧を計測する誘導電圧検出部１８、誘導電圧
値の演算処理により各触覚センサ１の圧力及び剪断力を
演算する演算処理部１９等を内蔵する。The manipulator 10 further includes a control device 16 for controlling the position and operation of the opening / closing operation member 15 and variably controlling the gripping force of the manipulator 10 with respect to the object W. The control device 16 includes a current supply unit 17 that supplies a high-frequency current to the exciting coil 3 of the tactile sensor 1, an induced voltage detection unit 18 that measures an induced voltage generated in the induction coil, and a calculation process of an induced voltage value for each tactile sensor 1. The calculation processing unit 19 and the like for calculating the pressure and the shearing force are included.
【００２５】図７は、誘導電圧値を測定するために使用
した試験装置のシステム構成を概略的に示すブロック図
である。試験装置は、信号発生器２１及び電流アンプ２
２を備える。信号発生器２１の１００KHz正弦波信号
が、電流アンプ２２を介して励磁コイル３に供給され、
励磁コイル５は、磁場３０を形成する。誘導コイル５、
６は、セルクタ２３、アンプ２４、セレクタ２５及び整
流アンプ２６を介してオシロスコープ２７に接続され
る。セレクタ２３、２５は、切替信号発生器２８の切替
信号により制御され、切替信号発生器２８は、コンピュ
ータ２８により制御される。FIG. 7 is a block diagram schematically showing the system configuration of the test apparatus used to measure the induced voltage value. The test apparatus includes a signal generator 21 and a current amplifier 2
2 is provided. The 100 KHz sine wave signal from the signal generator 21 is supplied to the exciting coil 3 via the current amplifier 22,
The excitation coil 5 forms a magnetic field 30. Induction coil 5,
6 is connected to an oscilloscope 27 via a selector 23, an amplifier 24, a selector 25 and a rectifying amplifier 26. The selectors 23 and 25 are controlled by the switching signal of the switching signal generator 28, and the switching signal generator 28 is controlled by the computer 28.
【００２６】図８（Ａ）は、誘導コイル５の座標系を示
す平面図であり、図８（Ｂ）は、触覚センサ１に剪断力
が作用した際に生じる誘導コイル５の誘導電圧値を示す
線図である。FIG. 8 (A) is a plan view showing the coordinate system of the induction coil 5, and FIG. 8 (B) shows the induction voltage value of the induction coil 5 generated when a shear force acts on the tactile sensor 1. It is a diagram showing.
【００２７】励磁コイル３及び誘導コイル５の間隔ｄを
１mmに設定し、図７に示す試験装置を用いて誘導コイル
５の誘導電圧を測定したところ、励磁コイル３の＋Ｘ方
向変位が増大するにつれて、コイル５ｃの電圧値は増大
し、コイル５ａの電圧値は減少した。これに対し、励磁
コイル３を逆方向（−Ｘ方向）に相対変位させると、コ
イル５ｃの電圧値は減少し、コイル５ａの電圧値は増大
した。なお、中央のコイル５ｂの電圧値は、＋Ｘ方向及
び−Ｘ方向の励磁コイル３の変位に関し、変位量の増大
につれて減少した。このような誘導電圧の変化は、図５
（Ｂ）に示す理論上の電圧変化特性と実質的に同じ特性
を示すものである。The distance d between the exciting coil 3 and the induction coil 5 was set to 1 mm, and the induction voltage of the induction coil 5 was measured using the test apparatus shown in FIG. 7. As the displacement of the exciting coil 3 in the + X direction increases, , The voltage value of the coil 5c increased and the voltage value of the coil 5a decreased. On the other hand, when the exciting coil 3 was relatively displaced in the opposite direction (-X direction), the voltage value of the coil 5c decreased and the voltage value of the coil 5a increased. The voltage value of the central coil 5b decreased with the increase in the displacement amount with respect to the displacement of the exciting coil 3 in the + X direction and the −X direction. Such a change in induced voltage is shown in FIG.
It exhibits substantially the same characteristics as the theoretical voltage change characteristics shown in (B).
【００２８】図９は、図６に示すマニピュレータ１０を
用いて物体Ｗを握持した状態で測定した誘導電圧値の変
化を示す線図である。誘導コイル５、６のコイル配列か
ら明らかなとおり、誘導コイル５は、Ｘ方向の剪断力を
検出するためには使用し得るが、Ｙ方向の剪断力の検出
には使用できず、逆に、誘導コイル６は、Ｙ方向の剪断
力を検出するためには使用し得るが、Ｘ方向の剪断力の
検出には使用できない。圧縮力と、Ｘ方向の剪断力とが
触覚センサ１に作用する場合、誘導コイル６によって圧
縮力を検出し、誘導コイル５によって剪断力を検出する
ことができる。これに対し、圧縮力と、Ｙ方向の剪断力
とが触覚センサ１に作用する場合、誘導コイル５によっ
て圧縮力を検出し、誘導コイル６によって剪断力を検出
することができる。FIG. 9 is a diagram showing a change in the induced voltage value measured with the object W held by the manipulator 10 shown in FIG. As is clear from the coil arrangement of the induction coils 5 and 6, the induction coil 5 can be used to detect the shearing force in the X direction, but cannot be used to detect the shearing force in the Y direction, and conversely, The induction coil 6 can be used to detect the shearing force in the Y direction, but cannot be used to detect the shearing force in the X direction. When the compression force and the shearing force in the X direction act on the tactile sensor 1, the induction coil 6 can detect the compression force and the induction coil 5 can detect the shearing force. On the other hand, when the compressive force and the shearing force in the Y direction act on the tactile sensor 1, the compressing force can be detected by the induction coil 5 and the shearing force can be detected by the induction coil 6.
【００２９】触覚センサ１の表面を垂直に位置決めした
状態で物体Ｗを両側面から開閉作動部材１５によって把
持し、物体Ｗの重量を徐々に増大しながら、誘導コイル
５、６の電圧値の変化を測定した結果が、図９に示され
ている。なお、触覚センサ１は、Ｘ軸を鉛直方向に配置
し、物体Ｗの鉛直荷重が触覚センサ1のＸ方向に作用す
るように配向された。While the surface of the tactile sensor 1 is vertically positioned, the object W is gripped from both sides by the opening / closing operation member 15, and the voltage value of the induction coils 5 and 6 is changed while gradually increasing the weight of the object W. The result of measurement is shown in FIG. The tactile sensor 1 has the X axis arranged in the vertical direction, and is oriented so that the vertical load of the object W acts in the X direction of the tactile sensor 1.
【００３０】物体Ｗの鉛直荷重は、Ｘ方向の剪断力とし
て触覚センサ１に作用し、Ｘ方向に剪断変形するが、Ｙ
方向に配向された誘導コイル６の各コイル６ａ、６ｂ、
６ｃは、Ｘ方向の剪断変形による影響を実質的に受けな
い。従って、誘導コイル６の誘導電圧値は、図９に示す
如く変化するが、この電圧値の変化は、圧縮変形により
生じたものであり、マニピュレータ１０の把持力の変化
を示す。これに対し、Ｙ方向に配向された誘導コイル５
の各コイル５ａ、５ｂ、５ｃの誘導電圧値の変化は、圧
縮変形及び剪断変形により生じたものであり、図９に示
す電圧値の変化は、マニピュレータ１０の把持力及び剪
断力の変化を示す。The vertical load of the object W acts on the tactile sensor 1 as a shearing force in the X direction and is sheared and deformed in the X direction.
Coils 6a, 6b of the induction coil 6 oriented in the direction
6c is not substantially affected by the shear deformation in the X direction. Therefore, the induced voltage value of the induction coil 6 changes as shown in FIG. 9, but this change in the voltage value is caused by the compressive deformation and indicates the change in the gripping force of the manipulator 10. On the other hand, the induction coil 5 oriented in the Y direction
The change of the induced voltage value of each coil 5a, 5b, 5c is caused by the compression deformation and the shear deformation, and the change of the voltage value shown in FIG. 9 shows the change of the gripping force and the shearing force of manipulator 10. .
【００３１】以上説明した如く、触覚センサ１は、磁場
３０を生起する励磁コイル３と、Ｘ方向に間隔を隔てて
配置されたコイル５ａ、５ｂ、５ｃと、Ｙ方向に間隔を
隔てて配置されたコイル６ａ、６ｂ、６ｃと、触覚セン
サ１の表面に作用する圧縮力及び剪断力の変化に相応し
て圧縮変形及び剪断変形可能な弾性体４とを備え、弾性
体４を励磁コイル３と誘導コイル５、６との間に介装し
た構成を有する。このような触覚センサ１によれば、触
覚センサ１の表面に作用する圧縮力及び剪断力は、弾性
体４の圧縮変形及び／又は剪断変形により生じる誘導コ
イル５、６の誘導電圧値の変化に基づいて検出すること
ができる。As described above, the tactile sensor 1 is provided with the exciting coil 3 for generating the magnetic field 30, the coils 5a, 5b and 5c arranged at intervals in the X direction and the coils arranged at intervals in the Y direction. Coil 6a, 6b, 6c, and an elastic body 4 capable of compressive deformation and shear deformation in accordance with changes in compressive force and shearing force acting on the surface of the tactile sensor 1, and the elastic body 4 is used as an exciting coil 3. It has a structure interposed between the induction coils 5 and 6. According to the tactile sensor 1 as described above, the compressive force and the shearing force acting on the surface of the tactile sensor 1 are changed in the induced voltage values of the induction coils 5 and 6 caused by the compressive deformation and / or the shearing deformation of the elastic body 4. It can be detected based on.
【００３２】図１０は、触覚センサ１の他のコイル配列
を例示する平面図である。図１０（Ａ）に示す触覚セン
サ１は、４組の誘導コイル５を備える。各誘導コイル５
は、Ｘ方向に間隔を隔てて配置されたコイル５ａ、５
ｂ、５ｃを夫々備える。触覚センサ１は又、４組の誘導
コイル６を備え、各誘導コイル６（図示せず）は、Ｙ方
向に間隔を隔てて配置されたコイル６ａ、６ｂ、６ｃ
（図示せず）を夫々備える。各誘導コイル６のコイル６
ａ、６ｂ、６ｃは、Y方向に間隔を隔てて配置される。FIG. 10 is a plan view illustrating another coil arrangement of the tactile sensor 1. The tactile sensor 1 shown in FIG. 10 (A) includes four sets of induction coils 5. Each induction coil 5
Are coils 5a, 5 which are arranged at intervals in the X direction.
b and 5c are provided respectively. The tactile sensor 1 also includes four sets of induction coils 6, and each induction coil 6 (not shown) has coils 6a, 6b, 6c arranged at intervals in the Y direction.
(Not shown), respectively. Coil 6 of each induction coil 6
The a, 6b, and 6c are arranged at intervals in the Y direction.
【００３３】図１０（Ｂ）に示す触覚センサ１も又、４
組の誘導コイル５を備える。しかしながら、各誘導コイ
ル５は、Ｘ方向及びＹ方向に対称に配置されたコイル５
ａ、５ｂ、５ｃ、５ｄを夫々備える。なお、前述の実施
形態の触覚センサ１に関して誘導コイル５、６の誘導電
圧値を測定し、測定結果に基づきキャリブレーション式
を仮定して最小二乗法による同定を行った結果、中央に
位置する誘導コイル５ｂ、６ｂは、剪断力の測定には大
きく影響しないことが確認された。このため、図１０
（Ｂ）に示す触覚センサ１の誘導コイル５は、単層構造
を備える。The tactile sensor 1 shown in FIG.
It comprises a set of induction coils 5. However, each induction coil 5 has a coil 5 arranged symmetrically in the X and Y directions.
a, 5b, 5c, 5d respectively. In addition, as a result of measuring the induced voltage values of the induction coils 5 and 6 with respect to the tactile sensor 1 of the above-described embodiment and performing identification by the least square method assuming a calibration formula based on the measurement result, the induction positioned at the center It was confirmed that the coils 5b and 6b did not significantly affect the measurement of the shear force. Therefore, FIG.
The induction coil 5 of the tactile sensor 1 shown in (B) has a single-layer structure.
【００３４】このような構成の触覚センサ１によれば、
コイル５ａ、５ｂ、５ｃ、５ｄの誘導電圧値の変化より
磁場３０の位置を検出し、磁場３０の位置変化に基づ
き、触覚センサ１の剪断変形量を演算し、剪断力を検出
することができる。According to the tactile sensor 1 having such a configuration,
The position of the magnetic field 30 can be detected from the change in the induced voltage value of the coils 5a, 5b, 5c, 5d, and the shear deformation amount of the tactile sensor 1 can be calculated based on the change in the position of the magnetic field 30 to detect the shear force. .
【００３５】以上、本発明の好適な実施形態について詳
細に説明したが、本発明は、上記実施形態に限定される
ものではなく、特許請求の範囲に記載された本発明の範
囲内において種々の変更又は変形が可能であり、かかる
変更又は変形例も又、本発明の範囲内に含まれるもので
あることはいうまでもない。Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various modifications are possible within the scope of the present invention described in the claims. It goes without saying that changes and modifications are possible, and such changes and modifications are also included in the scope of the present invention.
【００３６】例えば、励磁コイルの巻回形態は、正方形
又は長方形に限定されるものではなく、円形又は楕円形
等の巻回形態を採用しても良い。また、誘導コイルを構
成する各コイルの形態は、前述の方形形状のみならず、
扇形又は１／４円形態等をコイル形態として採用しても
良い。For example, the winding form of the exciting coil is not limited to a square or a rectangle, and a winding form such as a circle or an ellipse may be adopted. Further, the form of each coil forming the induction coil is not limited to the above-mentioned rectangular shape,
A fan shape or a quarter circle shape may be adopted as the coil shape.
【００３７】更に、励磁コイルに電流を供給する電流供
給手段、触覚センサの誘導電圧を計測する誘導電圧検出
手段や、誘導電圧検出手段の検出結果に基づいてマニピ
ュレータの把持力等を制御するマニピュレータ制御手段
として、任意の公知機器又は公知システムを使用するこ
とができる。Further, a current supplying means for supplying a current to the exciting coil, an induced voltage detecting means for measuring an induced voltage of the tactile sensor, and a manipulator control for controlling a gripping force of the manipulator based on the detection result of the induced voltage detecting means. Any known device or system can be used as the means.
【００３８】[0038]
【発明の効果】以上説明したとおり、本発明の上記構成
によれば、マニピュレータの手先部分に取付けられる触
覚センサ本体は、板状弾性体、励磁コイル及び誘導コイ
ルを積層した簡単な構造のものであり、薄く且つ小型で
あり、安価に製造することができる。また、触覚センサ
の制御部は、誘導コイルの誘導電圧値を検出し、簡易な
演算処理により圧力及び剪断力を検出できるので、制御
部を含む触覚センサ全体の構成も又、比較的簡素且つ安
価である。かくして、本発明によれば、と、マニピュレ
ータの手先部分に作用する圧力及び剪断力を検出するこ
とができ、小型で薄く、しかも、安価に製造し得る触覚
センサが提供される。As described above, according to the above-mentioned structure of the present invention, the tactile sensor main body attached to the hand of the manipulator has a simple structure in which a plate-like elastic body, an exciting coil and an induction coil are laminated. It is thin, small, and inexpensive to manufacture. Further, since the control unit of the tactile sensor can detect the induced voltage value of the induction coil and can detect the pressure and the shearing force by a simple calculation process, the configuration of the entire tactile sensor including the control unit is also relatively simple and inexpensive. Is. Thus, according to the present invention, there is provided a tactile sensor capable of detecting the pressure and the shearing force acting on the hand portion of the manipulator, which is small, thin, and inexpensive to manufacture.
【図１】本発明の好適な実施形態に係る触覚センサの拡
大縦断面図であり、触覚センサの無負荷状態（A）、圧
縮変形状態(B)及び剪断変形状態(C)が夫々示されてい
る。FIG. 1 is an enlarged vertical cross-sectional view of a tactile sensor according to a preferred embodiment of the present invention, showing a non-loaded state (A), a compression deformation state (B) and a shear deformation state (C) of the tactile sensor, respectively. ing.
【図２】触覚センサの原理を説明するための斜視図であ
り、励磁コイルの磁場が概念的に図示されている。FIG. 2 is a perspective view for explaining the principle of the tactile sensor, conceptually showing the magnetic field of the exciting coil.
【図3】触覚センサの原理を説明するための斜視図であ
り、励磁コイル及び誘導コイルの相対的な位置関係が示
されている。FIG. 3 is a perspective view for explaining the principle of the tactile sensor, showing a relative positional relationship between an exciting coil and an induction coil.
【図4】誘導コイルのコイル配列を示す平面図である。FIG. 4 is a plan view showing a coil array of induction coils.
【図５】剪断力が触覚センサに作用した際に生じる典型
的な誘導電圧値の変化を示す断面図及び線図である。5A and 5B are a cross-sectional view and a diagram showing changes in typical induced voltage values that occur when a shear force acts on a tactile sensor.
【図６】触覚センサを備えたマニピュレータの構成を例
示する概略斜視図である。FIG. 6 is a schematic perspective view illustrating the configuration of a manipulator including a tactile sensor.
【図７】励磁コイルに電流を供給して誘導コイルの誘導
電圧値を測定するために使用した試験装置のシステム構
成を概略的に示すブロック図である。FIG. 7 is a block diagram schematically showing a system configuration of a test apparatus used to supply a current to an exciting coil and measure an induced voltage value of the induction coil.
【図８】誘導コイルの座標系を示す平面図と、触覚セン
サに剪断力が作用した状態で測定した誘導コイルの誘導
電圧値を示す線図である。FIG. 8 is a plan view showing a coordinate system of the induction coil and a diagram showing an induction voltage value of the induction coil measured in a state where a shear force acts on the tactile sensor.
【図９】図６に示すマニピュレータによって被接触物を
握持した状態で測定した誘導電圧値を示す線図である。9 is a diagram showing an induced voltage value measured with the contacted object being gripped by the manipulator shown in FIG.
【図１０】触覚センサの他のコイル配列を例示する平面
図である。FIG. 10 is a plan view illustrating another coil array of the tactile sensor.
１：触覚センサ ２：表層被覆 ３：励磁コイル ４：薄板状弾性体 ５：誘導コイル ６：誘導コイル ７：基台 １０：マニピュレータ ３０：磁場 1: Tactile sensor 2: Surface coating 3: Excitation coil 4: Thin plate elastic body 5: Induction coil 6: Induction coil 7: Base 10: Manipulator 30: magnetic field
Claims (6)
用する圧力及び剪断力を検出する触覚センサにおいて、 表面と直交する圧縮力に応答して弾力的に圧縮変形し且
つ表面と平行に作用する剪断力に応答して弾力的に剪断
変形する板状弾性体と、該弾性体の片面に一体的に取付
けられた励磁コイルと、該弾性体の他面に一体的に取付
けられた誘導コイルと、前記励磁コイルに高周波電流を
通電する電流供給手段と、前記誘導コイルに発生した誘
導電圧を検出する電圧検出手段とを備え、 前記励磁コイルの磁場により前記誘導コイルに誘導電圧
を誘起し、該誘導電圧を前記電圧検出手段によって検出
し、前記誘導電圧の変化により、前記接触面に作用する
圧力及び剪断力を検出するようにしたことを特徴とする
触覚センサ。1. A tactile sensor which is in contact with an object to be contacted and which detects a pressure and a shearing force acting on the contact surface at the time of contact, wherein the tactile sensor is elastically compressed and deformed in response to a compressive force orthogonal to the surface and parallel to the surface A plate-like elastic body that elastically shears and deforms in response to a shearing force acting on the elastic body, an exciting coil integrally attached to one surface of the elastic body, and an exciting coil integrally attached to the other surface of the elastic body. An induction coil, a current supply unit for supplying a high-frequency current to the excitation coil, and a voltage detection unit for detecting an induction voltage generated in the induction coil, and an induction voltage is induced in the induction coil by the magnetic field of the excitation coil. The tactile sensor is characterized in that the induced voltage is detected by the voltage detecting means, and the pressure and shearing force acting on the contact surface are detected by the change of the induced voltage.
第２誘導コイルを直交方向に配向し且つ積層した複層構
造を有し、前記第１誘導コイルの誘導電圧は、第１方向
の磁場の移動により変化し、前記第2誘導コイルの誘導
電圧は、前記第１方向と直交する第２方向の磁場の移動
により変化することを特徴とする請求項１に記載の触覚
センサ。2. The induction coil has a multilayer structure in which a first induction coil and a second induction coil are oriented and laminated in an orthogonal direction, and an induction voltage of the first induction coil is a magnetic field in a first direction. 2. The tactile sensor according to claim 1, wherein the induction voltage of the second induction coil changes according to the movement of the magnetic field in the second direction orthogonal to the first direction.
以上の誘導コイル部分を単一平面に配置した単層構造を
有し、各コイル部分の誘導電圧は、前記励磁コイルの磁
場の移動により変化することを特徴とする請求項１に記
載の触覚センサ。3. The induction coil has a single-layer structure in which four or more induction coil parts symmetrically arranged are arranged in a single plane, and an induction voltage of each coil part is a movement of a magnetic field of the exciting coil. The tactile sensor according to claim 1, wherein the touch sensor changes.
前記触覚センサは、７mm以下の厚さを有することを特徴
とする請求項１乃至３のいずれか１項に記載の触覚セン
サ。4. The elastic body has a thickness of 5 mm or less,
The tactile sensor according to any one of claims 1 to 3, wherein the tactile sensor has a thickness of 7 mm or less.
の範囲の体積弾性率を有することを特徴とする請求項１
乃至4のいずれか１項に記載の触覚センサ。5. The elastic body is 1 × 10 −2 to 1 × 10 −1 N / mm 3
A bulk elastic modulus in the range of 1.
The tactile sensor according to any one of items 1 to 4.
覚センサを備え、前記電圧検出手段の検出結果に基づい
て被接触物の把持力を調節する把持力制御手段を備えた
ことを特徴とするマニピュレータ。6. The tactile sensor according to claim 1, further comprising a gripping force control unit that adjusts a gripping force of a contacted object based on a detection result of the voltage detection unit. Manipulator characterized by.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002145401A JP2003337071A (en) | 2002-05-20 | 2002-05-20 | Tactile sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002145401A JP2003337071A (en) | 2002-05-20 | 2002-05-20 | Tactile sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003337071A true JP2003337071A (en) | 2003-11-28 |
Family
ID=29704738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002145401A Pending JP2003337071A (en) | 2002-05-20 | 2002-05-20 | Tactile sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003337071A (en) |
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| WO2008007458A1 (en) * | 2006-07-14 | 2008-01-17 | Newcom, Inc. | Pressure distribution sensor utilizing electromagnetic coupling |
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