Title:
MULTI-AXIS TACTILE SENSOR
Document Type and Number:
WIPO Patent Application WO/2020/110181
Kind Code:
A1
Abstract:
Provided is a multi-axis tactile sensor for detecting force in three axial directions and moment about an axis, the sensor being compact and having high detection sensitivity. A multi-axis tactile sensor 1 according to the present invention is a multi-axis tactile sensor 1 for detecting force in three axial directions and moment about at least one axis, the sensor being provided with at least four sensor elements comprising: at least three shear force detection elements 20 having a beam structure provided with a first resistive layer 43 and a second resistive layer 53 at prescribed locations; and at least one pressing force detection element 30 having a beam structure provided with a third resistive layer 63 and a fourth resistive layer 73 at prescribed locations. The beam structures of the four sensor elements are respectively disposed on a sensor substrate 2 so that the longitudinal directions thereof extend radially. Moment about at least one axis is detected on the basis of the output of two or more sensor elements, from among the plurality of sensor elements, that are disposed at rotationally symmetric positions with respect to the center of the radial arrangement.
Inventors:
SHIMOYAMA ISAO (JP)
NAKAI AKIHITO (JP)
NAKAI AKIHITO (JP)
Application Number:
PCT/JP2018/043439
Publication Date:
June 04, 2020
Filing Date:
November 26, 2018
Export Citation:
Assignee:
UNIV TOKYO (JP)
International Classes:
G01L1/18; G01L5/16
Domestic Patent References:
| WO2018179911A1 | 2018-10-04 |
Foreign References:
| JP2017187399A | 2017-10-12 | |||
| JP2008281403A | 2008-11-20 | |||
| JP2013068503A | 2013-04-18 | |||
| JP2011112459A | 2011-06-09 | |||
| US20100175486A1 | 2010-07-15 |
Attorney, Agent or Firm:
KATO Ryuta et al. (JP)
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