Title:
CONTACT STATE RECOGNITION DEVICE AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/110237
Kind Code:
A1
Abstract:
This contact state recognition device (100a) is attached to a robot and recognizes a contact state upon contact with an object. The contact state recognition device (100a) comprises a rigid part (116) attached to the robot, a magnetic sensor (113a) attached to the rigid part (116), and a flexible part (112a) that is attached to the rigid part (116) and deforms upon coming into contact with an object. The flexible part (112a) contains a plurality of magnets (114a-114d) at different positions. The magnetic sensor (113a) has at least two detection axes in different directions and detects the intensities of the magnetic field produced by the plurality of magnets (114a-114d) in the directions of each of the detection axes.
Inventors:
KOJIMA RYO (JP)
HIRAI SHINICHI (JP)
HIRAI SHINICHI (JP)
Application Number:
PCT/JP2018/043824
Publication Date:
June 04, 2020
Filing Date:
November 28, 2018
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G01L1/00; B25J19/02; G01B7/30; G01L1/04; G01L1/12; G01L5/16
Foreign References:
| JP4165589B2 | 2008-10-15 | |||
| JP2009229453A | 2009-10-08 | |||
| JP6097081B2 | 2017-03-15 | |||
| JP5187856B2 | 2013-04-24 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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