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WO2008139979A1 - 剪断力検出装置及び物体把持システム - Google Patents

剪断力検出装置及び物体把持システム Download PDF

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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
English (en)
French (fr)
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/ja
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

　生産性が高く、かつ、物体からの剪断力を広い面積で高精度に検出するため、複数の剪断力検出ユニット２０２を同一面上に配置した剪断力検出装置２０１である。この剪断力検出装置２０１において、剪断力検出ユニット２０２は、それぞれ、物体から剪断力を受けて変形する変形部材を備える。また、変形部材の内部において、物体からの剪断力を受けて歪むように設けられた片持ち梁形状の歪センサを備えることを特徴とする。
PCT/JP2008/058437 2007-05-09 2008-05-02 剪断力検出装置及び物体把持システム Ceased WO2008139979A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007124984A JP4977825B2 (ja) 2007-05-09 2007-05-09 剪断力検出装置及び物体把持システム
JP2007-124984 2007-05-09

Publications (1)

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

Family

ID=40002183

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058437 Ceased WO2008139979A1 (ja) 2007-05-09 2008-05-02 剪断力検出装置及び物体把持システム

Country Status (2)

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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022514150A (ja) * 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 圧延スタンドにおけるロールの姿勢及び／又は位置を特定する装置及び方法
CN114323393A (zh) * 2021-12-28 2022-04-12 复旦大学 一种两体接触界面内剪切分布力的计算方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4896198B2 (ja) 2009-10-14 2012-03-14 国立大学法人東北大学 触覚センサシステム
JP5417454B2 (ja) * 2009-10-14 2014-02-12 国立大学法人東北大学 シート状触覚センサシステム
JP5470533B2 (ja) * 2010-02-18 2014-04-16 株式会社国際電気通信基礎技術研究所 触覚センサおよびそれを備えたロボット
JP5867688B2 (ja) * 2011-09-22 2016-02-24 国立大学法人 東京大学 触覚センサ及び多軸触覚センサ
JP6022792B2 (ja) 2012-03-30 2016-11-09 国立大学法人東北大学 集積化デバイス及び集積化デバイスの製造方法
JP2014134543A (ja) * 2013-01-11 2014-07-24 Univ Of Tokyo センサ素子、感圧型センサ及び触覚センサ
KR101879811B1 (ko) * 2016-08-08 2018-07-19 한국기계연구원 수직 전단력 촉각센서, 이의 제조 방법 및 촉각 센서 시스템
JP6827381B2 (ja) * 2017-07-12 2021-02-10 株式会社日立製作所 滑り検出システム
DE112018008166T5 (de) * 2018-11-26 2021-08-26 The University Of Tokyo Mehrachsiger tastsensor
CN113950396B (zh) 2019-06-05 2024-04-02 索尼集团公司 控制装置、控制方法及程序
JP7254433B2 (ja) 2021-05-31 2023-04-10 Ｎｉｓｓｈａ株式会社 ロボットハンドの触覚センサ付き指およびこれを用いた触覚センサ付きロボットハンド
JP7309301B1 (ja) 2022-02-17 2023-07-18 Ｎｉｓｓｈａ株式会社 ロボットハンドの把持制御方法
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 (ja) 2022-06-16 2024-03-05 Ｎｉｓｓｈａ株式会社 せん断力センサシート

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448597B2 (ja) * 1983-08-03 1992-08-07 Hitachi Ltd
JPH065207B2 (ja) * 1988-12-12 1994-01-19 工業技術院長 被把持物体の硬さ識別方法
JP2728569B2 (ja) * 1991-02-22 1998-03-18 株式会社富士電機総合研究所 分布型触覚センサ
EP1365221A1 (en) * 2002-05-24 2003-11-26 Société de Technologie Michelin Three-axis sensor assembly for use in an elastomeric material
JP2006208248A (ja) * 2005-01-28 2006-08-10 Univ Of Tokyo 触覚センサ及びその製造方法
JP2006275979A (ja) * 2005-03-30 2006-10-12 National Institute Of Information & Communication Technology センサ素子、センサ装置、対象物移動制御装置、対象物判別装置
JP2008026178A (ja) * 2006-07-21 2008-02-07 Advanced Telecommunication Research Institute International 触覚センサ装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448597B2 (ja) * 1983-08-03 1992-08-07 Hitachi Ltd
JPH065207B2 (ja) * 1988-12-12 1994-01-19 工業技術院長 被把持物体の硬さ識別方法
JP2728569B2 (ja) * 1991-02-22 1998-03-18 株式会社富士電機総合研究所 分布型触覚センサ
EP1365221A1 (en) * 2002-05-24 2003-11-26 Société de Technologie Michelin Three-axis sensor assembly for use in an elastomeric material
JP2006208248A (ja) * 2005-01-28 2006-08-10 Univ Of Tokyo 触覚センサ及びその製造方法
JP2006275979A (ja) * 2005-03-30 2006-10-12 National Institute Of Information & Communication Technology センサ素子、センサ装置、対象物移動制御装置、対象物判別装置
JP2008026178A (ja) * 2006-07-21 2008-02-07 Advanced Telecommunication Research Institute International 触覚センサ装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022514150A (ja) * 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 圧延スタンドにおけるロールの姿勢及び／又は位置を特定する装置及び方法
JP7227365B2 (ja) 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 圧延スタンドにおけるロールの姿勢及び／又は位置を特定する装置及び方法
CN114323393A (zh) * 2021-12-28 2022-04-12 复旦大学 一种两体接触界面内剪切分布力的计算方法
CN114323393B (zh) * 2021-12-28 2023-12-01 复旦大学 一种两体接触界面内剪切分布力的计算方法

Also Published As

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

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