WO2008093480A1 - 触覚センサ - Google Patents
触覚センサ Download PDFInfo
- Publication number
- WO2008093480A1 WO2008093480A1 PCT/JP2007/074670 JP2007074670W WO2008093480A1 WO 2008093480 A1 WO2008093480 A1 WO 2008093480A1 JP 2007074670 W JP2007074670 W JP 2007074670W WO 2008093480 A1 WO2008093480 A1 WO 2008093480A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- contact portion
- tactile sensor
- units
- portion units
- detecting element
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
本発明は、センシング対象物と接触するセンサ表面の再生ができ、産業用ロボットを利用した自動化システムの低コスト化に寄与できる触覚センサであり、柔軟材の接触部ユニット12と、接触部ユニットを取り囲み、かつ接触部ユニットの頂部が突出する姿勢にして脱着できる状態で収容する接触部収容ユニット11と、接触部収容ユニット中に埋め込まれた歪み検出素子15若しくは圧力検出素子とを備えたことを特徴とする。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/524,254 US8286509B2 (en) | 2007-01-29 | 2007-12-21 | Tactile sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007-017747 | 2007-01-29 | ||
JP2007017747A JP5078064B2 (ja) | 2007-01-29 | 2007-01-29 | 触覚センサ、劣化検出方法、および表面再生方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008093480A1 true WO2008093480A1 (ja) | 2008-08-07 |
Family
ID=39673795
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/074670 WO2008093480A1 (ja) | 2007-01-29 | 2007-12-21 | 触覚センサ |
Country Status (3)
Country | Link |
---|---|
US (1) | US8286509B2 (ja) |
JP (1) | JP5078064B2 (ja) |
WO (1) | WO2008093480A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011153826A (ja) * | 2009-11-20 | 2011-08-11 | B L Auto Tec Kk | 触覚センサ |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5477297B2 (ja) | 2008-11-26 | 2014-04-23 | 日本電気株式会社 | 能動計量学習装置、能動計量学習方法および能動計量学習プログラム |
WO2017127359A1 (en) | 2016-01-18 | 2017-07-27 | Forum Us, Inc. | Oilfield handling tool equipment identification |
US9790750B1 (en) * | 2016-11-03 | 2017-10-17 | Forum Us, Inc | Handling tool with integrated sensor for real time monitoring during operation |
JP7267994B2 (ja) * | 2017-08-14 | 2023-05-02 | コンタクタイル ピーティーワイ リミテッド | グリップ・セキュリティを測定する摩擦ベースの触覚センサ |
US11667039B2 (en) | 2019-01-31 | 2023-06-06 | Toyota Research Institute, Inc. | Systems and methods for estimating shape, contact forces, and pose of objects manipulated by robots having compliant contact and geometry sensors |
JP7287664B2 (ja) * | 2019-06-17 | 2023-06-06 | 国立大学法人 香川大学 | 触覚センサおよび触覚測定方法 |
US11584026B2 (en) | 2020-02-17 | 2023-02-21 | Toyota Research Institute, Inc. | Robot arm assemblies including fingers having deformable sensors |
US11577395B2 (en) | 2020-02-17 | 2023-02-14 | Toyota Research Institute, Inc. | Systems for determining location using robots with deformable sensors |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5960837A (ja) * | 1982-09-29 | 1984-04-06 | 富士通株式会社 | 触覚センサ |
JPS6259825A (ja) * | 1985-09-11 | 1987-03-16 | Toshiba Corp | 圧覚センサ |
JPH0629808B2 (ja) * | 1987-03-03 | 1994-04-20 | 工業技術院長 | 圧覚センサ |
JP2004230532A (ja) * | 2003-01-31 | 2004-08-19 | Toyota Motor Corp | 人工表皮 |
JP6058269B2 (ja) * | 2012-02-02 | 2017-01-11 | Sppテクノロジーズ株式会社 | 基板トレー、およびこれを備えたプラズマ処理装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0658269B2 (ja) * | 1986-10-31 | 1994-08-03 | 日本電気株式会社 | 触覚センサ |
JPH073375B2 (ja) * | 1989-11-22 | 1995-01-18 | 工業技術院長 | 分布型圧覚センサ |
JPH078477B2 (ja) * | 1990-06-25 | 1995-02-01 | 工業技術院長 | ロボットの把持外被 |
JPH0629808A (ja) | 1992-07-13 | 1994-02-04 | Fuji Electric Co Ltd | トランジスタの電源投入時誤動作防止方法 |
JP2740079B2 (ja) | 1992-08-10 | 1998-04-15 | 株式会社クボタ | スクロール圧縮機 |
US5753819A (en) * | 1995-09-18 | 1998-05-19 | Ssi Technologies, Inc. | Method and apparatus for sealing a pressure transducer within a housing |
JP4801274B2 (ja) * | 2001-03-29 | 2011-10-26 | 本田技研工業株式会社 | 圧力センサを内蔵した制御箱 |
JP3752444B2 (ja) * | 2001-11-16 | 2006-03-08 | 株式会社日立製作所 | 圧力検出装置 |
JP3479064B1 (ja) * | 2002-04-12 | 2003-12-15 | 北陸電気工業株式会社 | 半導体力センサ |
JP2004358634A (ja) | 2003-06-06 | 2004-12-24 | Akito Sano | 触覚センサー内蔵ソフトフィンガー |
JP2007010383A (ja) * | 2005-06-29 | 2007-01-18 | Institute Of Physical & Chemical Research | 柔軟触覚センサとその製作方法 |
-
2007
- 2007-01-29 JP JP2007017747A patent/JP5078064B2/ja not_active Expired - Fee Related
- 2007-12-21 WO PCT/JP2007/074670 patent/WO2008093480A1/ja active Application Filing
- 2007-12-21 US US12/524,254 patent/US8286509B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5960837A (ja) * | 1982-09-29 | 1984-04-06 | 富士通株式会社 | 触覚センサ |
JPS6259825A (ja) * | 1985-09-11 | 1987-03-16 | Toshiba Corp | 圧覚センサ |
JPH0629808B2 (ja) * | 1987-03-03 | 1994-04-20 | 工業技術院長 | 圧覚センサ |
JP2004230532A (ja) * | 2003-01-31 | 2004-08-19 | Toyota Motor Corp | 人工表皮 |
JP6058269B2 (ja) * | 2012-02-02 | 2017-01-11 | Sppテクノロジーズ株式会社 | 基板トレー、およびこれを備えたプラズマ処理装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011153826A (ja) * | 2009-11-20 | 2011-08-11 | B L Auto Tec Kk | 触覚センサ |
Also Published As
Publication number | Publication date |
---|---|
US20100180697A1 (en) | 2010-07-22 |
US8286509B2 (en) | 2012-10-16 |
JP2008185399A (ja) | 2008-08-14 |
JP5078064B2 (ja) | 2012-11-21 |
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