JPH01501654A - キャパシタンスセンサ及びキャパシタンスセンサアレイ - Google Patents
キャパシタンスセンサ及びキャパシタンスセンサアレイInfo
- Publication number
- JPH01501654A JPH01501654A JP62505560A JP50556087A JPH01501654A JP H01501654 A JPH01501654 A JP H01501654A JP 62505560 A JP62505560 A JP 62505560A JP 50556087 A JP50556087 A JP 50556087A JP H01501654 A JPH01501654 A JP H01501654A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- output
- capacitance
- array
- function
- 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
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
- B25J13/083—Grasping-force detectors fitted with slippage detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
- G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
- G01D5/2417—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying separation
-
- 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
- G01L1/142—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 using capacitors
- G01L1/146—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 using capacitors for measuring force distributions, e.g. using force arrays
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Switches That Are Operated By Magnetic Or Electric Fields (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
Claims (24)
- 1.従来のトポロギーのアレイに形成された複数のキャパシタープレート部材を 、各オッシレーター回路の振動数が各キャパシタープレート部材と名物体との間 のキャパシタンスの関数となるように複数の対応するオッシレーター回路の1つ に対して前記プレート部材の各々と前記物体とを活性的に接続する装置と、前記 複数のオッシレーター回路から前記物体の触知特性の関数としてセンサーからの アウトプットを発生させる装置とで成り、物体の特性を近接及び触覚検知するキ ャパシタンスセンサアレイ。
- 2.前記アウトプットは前記センサと前記物体との間のすべりの関数であること を特徴とする、請求の範囲第1項に記載のセンサ。
- 3.前記アウトプットは、前記センサと前記物体との局の相対的動きの関数であ って、その下限ほ約1000マイクロメーターであることを特徴とする請求の範 囲第2項に記載のセンサ。
- 4.前記アウトプットは、前記センサと前記物体との間の相対的動きの関数であ って、その下限は約100マイクロメーターであることを特徴とする請求の範囲 第2項に記載のセンサ。
- 5.前記アウトプットは、前記センサと前記物体との間の相対的動きの関数であ って、その下限は約2.5マイクロメーターであることを特徴とする請求の範囲 第2項に記載のセンサ。
- 6.前記アウトプットは約50ミリ秒以下ですべりを検知することを特徴とする 、請求の範囲第2項に記載のセンサ。
- 7.前記アウトプットは約30ミリ秒以下ですべりを検知することを特徴とする 請求の範囲第2項に記載のセンサ。
- 8.前記アウトプットは約10ミリ秒以下ですべりを検知することを特徴とする 請求の範囲第2項に記載のセンサ。
- 9.センサと物体とをキャパシターで接続する装置と、前記センサと前記物体と の間のキャパシタンスの関数である振動率を有するキャパシター装置と、前記セ ンサと前記物体との間のキャパシタンスの変化を表わす前記オッシレーターの振 動数の変化からすべりの大きさとしてのアウトプット信号を発生させる装置とで 成り、下限が約2.5マイクロメーターであるような、前記センサと前記物体と の間の相対的動きを約10ミリ秒以下の時間に検知するキャパシタンスセンサ。
- 10.前記アウトプットは前記各オッシレーターの振動数に対応する複数の信号 であることを特徴とする請求の範囲第1項に記載のセンサ。
- 11.前記アウトプットは連続的な平行アウトプットであることを特徴とする、 請求の範囲第11項に記載のセンサ。
- 12.前記アウトプットは連続的に並んだ前記複数の各オッシレーターの連続ア ウトプットであることを特徴とする、請求の範囲第11項に記載のセンサ。
- 13.前記アウトプットは複数の前記オッシレーターの連続する複数の後続平行 アウトプットであることを特徴とする、請求の範囲第11項に記載のセンサ。
- 14.センサと、前記センサを使用して、前記物体に関する触覚、近接情報を決 定する信号処理装置とで成り、物体に関する触覚、近接情報を決定する検知器。
- 15.前記信号処理装置は前記検知器と前記物体との間のキャパシタンスの変化 をそれらの間の距離の関数として評価することを特徴とする、請求の範囲第15 項に記載の検知器。
- 16.前記信号処理装置は前記物体の形を検知するためにキャパシタンス信号を 評価することを特徴とする、請求の範囲第15項に記載の検知器。
- 17.前記信号処理装置は前記物体の方位を検知するためにキャパシタンス信号 を評価することを特徴とする、請求の範囲第15項に記載の検知器。
- 18.前記信号処理装置は物体のエッジの位置と方位を検知するためにキャパシ タンス信号を評価することを特徴とする、請求の範囲第15項に記載の検知器。
- 19.前記信号処理装置はセンサと前記物体との間の相対的動きを検知するため キャパシタンス信号を評価することを特徴とする、請求の範囲第15項に記載の 検知器。
- 20.前記信号処理装置は前記物体に操作的に関連する工具用制御信号を発生さ せるために使用されることを特徴とする請求の範囲第15項に記載の検知器。
- 21.前記制御信号は前記工具の実際の時間の制御として発生することを特徴と する、請求の範囲第21項に記載の検知器。
- 22.前記制御信号は、実際の時間の閉鎖ループフィードバック制御信号である ことを特徴とする、請求の範囲第21項に記載の検知器。
- 23.前記工具は、前記物体と結合してそれを操作するロボットグリッパーであ ることを特徴とする、請求の範囲第23項に記載の検知器。
- 24.物体の設計のトポロギーに一致するようなトポロギーアレイに形成された 複数のキャパシタープレート部材と、各オッシレーター回路の振動数が前記プレ ート部材と前記物体との間のキャパシタンスの関数となるように、前記各プレー ト部材と前記物体とを複数の対応するオッシレーター回路の1つに活性的に接続 させる装置と、前記複数のオッシレークー回路の応答により決定された前記物体 の前記設計上のトポロギーの形に前記物体の形を一致させる関数としてのアウト プットを前記センサーから発生させる装置とで成る、物体の品質管理特性を触覚 で検知するキャパシタンスセンサアレイ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/903,178 US4766389A (en) | 1986-09-03 | 1986-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
US903,178 | 1986-09-03 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH01501654A true JPH01501654A (ja) | 1989-06-08 |
JP2743977B2 JP2743977B2 (ja) | 1998-04-28 |
Family
ID=25417067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62505560A Expired - Lifetime JP2743977B2 (ja) | 1986-09-03 | 1987-09-03 | キャパシタンスセンサ及びキャパシタンスセンサアレイ |
Country Status (5)
Country | Link |
---|---|
US (1) | US4766389A (ja) |
EP (1) | EP0281610A4 (ja) |
JP (1) | JP2743977B2 (ja) |
AU (1) | AU596873B2 (ja) |
WO (1) | WO1988001747A1 (ja) |
Cited By (2)
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JPH09207049A (ja) * | 1995-10-10 | 1997-08-12 | Esab Group Inc:The | ディジタル化プローブ |
JP2017096934A (ja) * | 2015-11-20 | 2017-06-01 | ゼネラル・エレクトリック・カンパニイ | 部品の歪を測定するためのシステムと方法 |
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DE3856282T2 (de) * | 1987-02-03 | 1999-08-19 | Yamaha Corp. | Bekleidungsaustattung zur Steuerung von einem Musikton |
US4950987A (en) * | 1989-03-03 | 1990-08-21 | University Of North Carolina At Charlotte | Magneto-inductive sensor for performing tactile and proximity sensing |
EP0425823A1 (en) * | 1989-09-29 | 1991-05-08 | Antivision Systems Corp. | Electrocstatic imaging apparatus |
AU8866991A (en) * | 1990-11-16 | 1992-06-11 | Moonstone Designs Limited | Device for determining the presence and/or characteristics of an object or a substance |
EP0556682B1 (en) * | 1992-02-10 | 1997-12-03 | SYEL di FRANCHI A.- MARTOLINI A. & C. s.n.c. | Electronic capacitive sensor bar device |
US5315259A (en) * | 1992-05-26 | 1994-05-24 | Universities Research Association, Inc. | Omnidirectional capacitive probe for gauge of having a sensing tip formed as a substantially complete sphere |
US6114862A (en) * | 1996-02-14 | 2000-09-05 | Stmicroelectronics, Inc. | Capacitive distance sensor |
FR2755269B1 (fr) * | 1996-10-25 | 1998-12-04 | Asulab Sa | Dispositif d'identification d'une action manuelle sur une surface, notamment pour une piece d'horlogerie |
US5988971A (en) * | 1997-07-09 | 1999-11-23 | Ade Optical Systems Corporation | Wafer transfer robot |
DE19859779A1 (de) * | 1998-12-23 | 2000-07-13 | Peer Schmidt | Verfahren zur Aufnahme von dynamischen Tastinformationen |
US6369588B1 (en) | 1999-11-09 | 2002-04-09 | Gerard E. Sleefe | Sensor system for web inspection |
CA2342092A1 (en) * | 2001-03-23 | 2002-09-23 | Vibrosystm Inc. | Non intrusive and dynamic method and system for measuring a distance or the variation thereof through dielectrics |
AT412915B (de) * | 2001-08-31 | 2005-08-25 | Friedrich Dipl Ing Dr Franek | Sensor zur bestimmung von oberflächenparametern eines messobjekts |
DE10247404B4 (de) * | 2002-10-04 | 2007-10-18 | T & T Medilogic Medizintechnik Gmbh | Sensor zum Erfassen von Kräften nach Größe und Richtung und daraus gebildete Druckmessplatte |
US20040257744A1 (en) * | 2003-06-23 | 2004-12-23 | Bushko Wit Cezary | Collision avoidance system and method |
KR100608927B1 (ko) * | 2005-05-26 | 2006-08-08 | 한국과학기술원 | 커패시터용 전극층과 커패시터용 전극층의 제조방법, 그전극층을 이용한 단위센서 및 그 단위센서를 이용한촉각센서 |
DE102006045908A1 (de) * | 2006-09-28 | 2008-04-10 | Infineon Technologies Ag | Prozessorelement zur Verwendung in einem Netzwerk von Prozessorelementen |
US8556681B2 (en) * | 2007-01-29 | 2013-10-15 | Tosoh Smd, Inc. | Ultra smooth face sputter targets and methods of producing same |
US8271138B2 (en) * | 2007-09-12 | 2012-09-18 | Intelligent Hospital Systems Ltd. | Gripper device |
US8515579B2 (en) | 2009-12-09 | 2013-08-20 | GM Global Technology Operations LLC | Systems and methods associated with handling an object with a gripper |
US9605952B2 (en) | 2012-03-08 | 2017-03-28 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
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US9243390B2 (en) | 2013-03-14 | 2016-01-26 | Delta Faucet Company | Capacitive sensing faucet including a conductive polymer |
NZ722329A (en) | 2014-01-29 | 2020-05-29 | Roho Inc | Cushion immersion sensor |
WO2016049583A1 (en) | 2014-09-25 | 2016-03-31 | Switch It, Inc. | Drive control system for powered wheelchair |
US10718359B2 (en) | 2015-08-21 | 2020-07-21 | Quality Manufacturing Inc. | Devices and systems for producing rotational actuation |
CN107247523B (zh) * | 2017-05-26 | 2020-04-03 | 清华大学 | 一种多阵列的指尖触觉交互装置 |
ES2962547T3 (es) * | 2017-08-14 | 2024-03-19 | Contactile Pty Ltd | Sistema y procedimiento para evaluar seguridad de agarre |
CN108051027B (zh) * | 2017-11-23 | 2019-12-31 | 清华-伯克利深圳学院筹备办公室 | 一种可同时测量压力与滑动的滑觉传感器 |
US10976147B2 (en) * | 2018-02-02 | 2021-04-13 | American University Of Beirut | Thickness measurement device and methods of use |
JP2022527847A (ja) | 2019-03-29 | 2022-06-06 | ライオス インテリジェント マシーンズ インコーポレイテッド | ロボットシステム用の触覚知覚装置 |
US11607816B2 (en) | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
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-
1986
- 1986-09-03 US US06/903,178 patent/US4766389A/en not_active Expired - Lifetime
-
1987
- 1987-09-03 AU AU79662/87A patent/AU596873B2/en not_active Ceased
- 1987-09-03 JP JP62505560A patent/JP2743977B2/ja not_active Expired - Lifetime
- 1987-09-03 WO PCT/US1987/002205 patent/WO1988001747A1/en not_active Application Discontinuation
- 1987-09-03 EP EP19870906139 patent/EP0281610A4/en not_active Withdrawn
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JPS57158052A (en) * | 1981-03-26 | 1982-09-29 | Toshiba Corp | Detection system for fine variation in electrostatic capacity |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09207049A (ja) * | 1995-10-10 | 1997-08-12 | Esab Group Inc:The | ディジタル化プローブ |
JP2017096934A (ja) * | 2015-11-20 | 2017-06-01 | ゼネラル・エレクトリック・カンパニイ | 部品の歪を測定するためのシステムと方法 |
Also Published As
Publication number | Publication date |
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JP2743977B2 (ja) | 1998-04-28 |
WO1988001747A1 (en) | 1988-03-10 |
US4766389A (en) | 1988-08-23 |
AU7966287A (en) | 1988-03-24 |
AU596873B2 (en) | 1990-05-17 |
EP0281610A1 (en) | 1988-09-14 |
EP0281610A4 (en) | 1990-10-24 |
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