To provide a sensing method and a sensing device capable of accurately detecting a force by correcting a sensor output value also for an elastic sensor such as a conductive rubber sensor causing a non-linear output, a hysteresis characteristic, a residual stress, and a temperature drift and allowing to use the conductive rubber sensor having a high freedom degree of design when the sensor is buried in a hand and manufactured at a rather low cost without using a strain gauge system having a structural body in which a proper strain generating position is designed particularly when used for detecting the holding force of the robot hand.
This sensing method and sensing device handle by grasping and holding a work and detect a force and a pressure by a hand device performing the conveyance, assembly, and disassembly of the work. Sensors formed of elastic bodies capable of detecting forces and pressures are installed in and outside the hand device finger parts or hand device claw parts thereof forming portions in contact with the work. During the operation, sensor outputs from the force detection sensors are observed at all times and, by using the sensor outputs, the forces from the sensors are obtained by calculation.
HIRASAWA TOMOYASU
UCHIDA TAKUYA
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