Title:
MULTI-AXIS TACTILE SENSOR
Document Type and Number:
Japanese Patent JP2021183986
Kind Code:
A
Abstract:
To provide a multi-axis tactile sensor for detecting three axial forces and a moment about an axis, which is small in size and high in detection sensitivity.SOLUTION: A multi-axis tactile sensor 1 is for detecting three axial forces and a moment about at least one axis. The multi-axis tactile sensor 1 comprises at least four sensor elements including: at least three shear force detection elements 20 having a beam structure comprising a first resistance layer 43 and a second resistance layer 53 in a predetermined site; and at least one pressing-force detection element 30 having a beam structure comprising a third resistance layer 63 and a fourth resistance layer 73 in a predetermined site. Each of the beam structures of the four sensor elements is arranged on a sensor substrate 2 so that its longitudinal direction is radial. A moment about an axis of the at least one axis is detected based on an output of two or more sensor elements arranged in a rotationally symmetrical position relative to the center of the radial arrangement of the plurality of sensor elements.SELECTED DRAWING: Figure 3
Inventors:
SHIMOYAMA ISAO
NAKAI AKIHITO
NAKAI AKIHITO
Application Number:
JP2021141549A
Publication Date:
December 02, 2021
Filing Date:
August 31, 2021
Export Citation:
Assignee:
UNIV TOKYO
International Classes:
G01L5/162
Domestic Patent References:
| JP2017187399A | 2017-10-12 | |||
| JP2013068503A | 2013-04-18 | |||
| JP6941901B2 | 2021-09-29 |
Attorney, Agent or Firm:
Ryota Kato
Tetsuo Shiba
Tetsuo Shiba
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