PRESSURE SENSITIVE SENSOR, GRASPING DEVICE, AND ROBOT

To realize a pressure sensitive sensor with which the hardness of an object can be easily measured, a gasping device with which operation of a grasping unit can be controlled taking into account the hardness of the object, and a robot that is provided with the grasping device.SOLUTION: Provided is a pressure sensitive sensor comprising: a substrate that has a placement plane; an elastic body that is placed on the placement plane and that is formed in shape of a dome including a convex plane; a first pressure sensitive element that is disposed between the placement plane and the elastic body at a position corresponding to the vertex of the convex plane and that outputs a first detection signal upon sensing pressure; a second pressure sensitive element that is disposed between the placement plane and the elastic body at a position corresponding to a peripheral section of the convex plane and that outputs a second detection signal upon sensing pressure; and an arithmetic unit that performs arithmetic operation on the first and second detection signals, the arithmetic unit measuring the hardness of the object on the basis of a ratio R1-1/2 of the first detection signal to the second detection signal when the object is pressed against the elastic body with a first load.SELECTED DRAWING: Figure 1 【課題】対象物の硬さを容易に測定できる感圧センサー、対象物の硬さを踏まえて把持部の動作を制御可能な把持装置、および、前記把持装置を備えるロボットを実現すること。【解決手段】載置面を有する基材と、前記載置面に載置され、凸曲面を含む円蓋形状をなす弾性体と、前記載置面と前記弾性体との間で、かつ、前記凸曲面の頂部に対応する位置に配置され、感圧によって第１検出信号を出力する第１感圧素子と、前記載置面と前記弾性体との間で、かつ、前記凸曲面の周縁部に対応する位置に配置され、感圧によって第２検出信号を出力する第２感圧素子と、前記第１検出信号および前記第２検出信号に演算を行う演算部と、を備え、前記演算部は、前記弾性体に対象物を第１荷重で押し付けたときの前記第１検出信号と前記第２検出信号との比Ｒ１－１／２に基づいて、前記対象物の硬さを測定することを特徴とする感圧センサー。【選択図】図１