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WO2008139979A1 - Shearing force detector and object-grasping system - Google Patents

Shearing force detector and object-grasping system Download PDF

Info

Publication number
WO2008139979A1
WO2008139979A1 PCT/JP2008/058437 JP2008058437W WO2008139979A1 WO 2008139979 A1 WO2008139979 A1 WO 2008139979A1 JP 2008058437 W JP2008058437 W JP 2008058437W WO 2008139979 A1 WO2008139979 A1 WO 2008139979A1
Authority
WO
WIPO (PCT)
Prior art keywords
shearing force
force detector
grasping system
strained
strain
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.)
Ceased
Application number
PCT/JP2008/058437
Other languages
French (fr)
Japanese (ja)
Inventor
Isao Shimoyama
Kiyoshi Matsumoto
Eiji Iwase
Akihito Nakai
Yusuke Tanaka
Yuya Morimoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Tokyo NUC
Original Assignee
University of Tokyo NUC
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 University of Tokyo NUC filed Critical University of Tokyo NUC
Publication of WO2008139979A1 publication Critical patent/WO2008139979A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)

Abstract

A shearing force detector (201) is productive and has shearing force detection units (202) arranged on the same surface for precisely detecting shearing force from an object by a large area. In the shearing force detector (201), the shearing force detection units (202) are characterized by respectively comprising a strain member which is strained when the shearing force is applied from the object and respectively comprising a cantilever strain sensor which is so provided inside the strain members as to be strained when the shearing force is applied from the object.
PCT/JP2008/058437 2007-05-09 2008-05-02 Shearing force detector and object-grasping system Ceased WO2008139979A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007124984A JP4977825B2 (en) 2007-05-09 2007-05-09 Shear force detection device and object gripping system
JP2007-124984 2007-05-09

Publications (1)

Publication Number Publication Date
WO2008139979A1 true WO2008139979A1 (en) 2008-11-20

Family

ID=40002183

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058437 Ceased WO2008139979A1 (en) 2007-05-09 2008-05-02 Shearing force detector and object-grasping system

Country Status (2)

Country Link
JP (1) JP4977825B2 (en)
WO (1) WO2008139979A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022514150A (en) * 2018-10-08 2022-02-10 エス・エム・エス・グループ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング A device and method for specifying the posture and / or position of a roll on a rolling stand.
CN114323393A (en) * 2021-12-28 2022-04-12 复旦大学 Calculation method for shear distribution force in two-body contact interface

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4896198B2 (en) 2009-10-14 2012-03-14 国立大学法人東北大学 Tactile sensor system
JP5417454B2 (en) * 2009-10-14 2014-02-12 国立大学法人東北大学 Sheet-like tactile sensor system
JP5470533B2 (en) * 2010-02-18 2014-04-16 株式会社国際電気通信基礎技術研究所 Tactile sensor and robot equipped with the same
JP5867688B2 (en) * 2011-09-22 2016-02-24 国立大学法人 東京大学 Tactile sensor and multi-axis tactile sensor
JP6022792B2 (en) 2012-03-30 2016-11-09 国立大学法人東北大学 Integrated device and manufacturing method of integrated device
JP2014134543A (en) * 2013-01-11 2014-07-24 Univ Of Tokyo Sensor element, pressure-sensitive sensor, and tactile sensor
KR101879811B1 (en) * 2016-08-08 2018-07-19 한국기계연구원 Tactile Sensor for Shear force and Making Method of the Same and System of Tactile Sensor
JP6827381B2 (en) * 2017-07-12 2021-02-10 株式会社日立製作所 Slip detection system
DE112018008166T5 (en) * 2018-11-26 2021-08-26 The University Of Tokyo MULTI-AXIS BUTTON SENSOR
CN113950396B (en) 2019-06-05 2024-04-02 索尼集团公司 Control device, control method and program
JP7254433B2 (en) 2021-05-31 2023-04-10 Ｎｉｓｓｈａ株式会社 Finger with tactile sensor of robot hand and robot hand with tactile sensor using this
JP7309301B1 (en) 2022-02-17 2023-07-18 Ｎｉｓｓｈａ株式会社 Grip control method of robot hand
US20230341279A1 (en) * 2022-04-20 2023-10-26 Toyota Research Institute, Inc. Systems and devices for shear force estimation with off-axis membrane pressure measurement
JP7443424B2 (en) 2022-06-16 2024-03-05 Ｎｉｓｓｈａ株式会社 shear force sensor sheet

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448597B2 (en) * 1983-08-03 1992-08-07 Hitachi Ltd
JPH065207B2 (en) * 1988-12-12 1994-01-19 工業技術院長 Hardness identification method for gripped objects
JP2728569B2 (en) * 1991-02-22 1998-03-18 株式会社富士電機総合研究所 Distributed tactile sensor
EP1365221A1 (en) * 2002-05-24 2003-11-26 Société de Technologie Michelin Three-axis sensor assembly for use in an elastomeric material
JP2006208248A (en) * 2005-01-28 2006-08-10 Univ Of Tokyo Tactile sensor and manufacturing method thereof
JP2006275979A (en) * 2005-03-30 2006-10-12 National Institute Of Information & Communication Technology Sensor element, sensor device, object movement control device, object discrimination device
JP2008026178A (en) * 2006-07-21 2008-02-07 Advanced Telecommunication Research Institute International Tactile sensor device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448597B2 (en) * 1983-08-03 1992-08-07 Hitachi Ltd
JPH065207B2 (en) * 1988-12-12 1994-01-19 工業技術院長 Hardness identification method for gripped objects
JP2728569B2 (en) * 1991-02-22 1998-03-18 株式会社富士電機総合研究所 Distributed tactile sensor
EP1365221A1 (en) * 2002-05-24 2003-11-26 Société de Technologie Michelin Three-axis sensor assembly for use in an elastomeric material
JP2006208248A (en) * 2005-01-28 2006-08-10 Univ Of Tokyo Tactile sensor and manufacturing method thereof
JP2006275979A (en) * 2005-03-30 2006-10-12 National Institute Of Information & Communication Technology Sensor element, sensor device, object movement control device, object discrimination device
JP2008026178A (en) * 2006-07-21 2008-02-07 Advanced Telecommunication Research Institute International Tactile sensor device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022514150A (en) * 2018-10-08 2022-02-10 エス・エム・エス・グループ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング A device and method for specifying the posture and / or position of a roll on a rolling stand.
JP7227365B2 (en) 2018-10-08 2023-02-21 エス・エム・エス・グループ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング Apparatus and method for determining roll attitude and/or position in rolling stand
CN114323393A (en) * 2021-12-28 2022-04-12 复旦大学 Calculation method for shear distribution force in two-body contact interface
CN114323393B (en) * 2021-12-28 2023-12-01 复旦大学 A method for calculating the shear distribution force within the contact interface of two bodies

Also Published As

Publication number Publication date
JP2008281403A (en) 2008-11-20
JP4977825B2 (en) 2012-07-18

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