WO2008093480A1 - 触覚センサ - Google Patents

触覚センサ Download PDF

Info

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
Application number
PCT/JP2007/074670
Other languages
English (en)
French (fr)
Inventor
Hiroshi Igarashi
Ryoji Matsuda
Original Assignee
Tokyo Denki University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tokyo Denki University filed Critical Tokyo Denki University
Priority to US12/524,254 priority Critical patent/US8286509B2/en
Publication of WO2008093480A1 publication Critical patent/WO2008093480A1/ja

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。
PCT/JP2007/074670 2007-01-29 2007-12-21 触覚センサ WO2008093480A1 (ja)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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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