TACTILE SENSOR AND SHEARING FORCE DETECTION METHOD
PROBLEM TO BE SOLVED: To provide a tactile sensor and a shearing force detection method capable of detecting a shearing force in a rotation axis direction.SOLUTION: The tactile sensor includes: a pair of force detection elements each of which is disposed, in a periphery of a predetermined area of a...
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Format: | Patent |
Sprache: | eng ; jpn |
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Zusammenfassung: | PROBLEM TO BE SOLVED: To provide a tactile sensor and a shearing force detection method capable of detecting a shearing force in a rotation axis direction.SOLUTION: The tactile sensor includes: a pair of force detection elements each of which is disposed, in a periphery of a predetermined area of a predetermined plane, at a position different from each other in a circumferential direction of the predetermined area; and a detect circuit that detects changes of state of the pair of force detection elements as an electric signal. The detect circuit is configured so as, when a shearing force is applied in a rotation direction of a vertical axis with respect to the predetermined plane in the predetermined area, to change the strength of the electric signal depending on the shearing force.SELECTED DRAWING: Figure 4
【課題】 回転軸方向のせん断力を検出することができる触覚センサおよびせん断力検出方法を提供する。【解決手段】 触角センサは、所定平面の所定領域の周辺において、当該所定領域の周方向の異なる位置に配置された1対の力検出素子と、前記1対の力検出素子の状態変化を電気信号として検出する検出回路と、を備え、前記検出回路は、前記所定領域において前記所定平面に対する垂直軸の回転方向にせん断力が印加される場合に、前記電気信号の強度を当該せん断力に応じて変化させるように構成されている。【選択図】 図4 |
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