Title:
HOLDING TOOL, HOLDING SYSTEM, SLIPPING DETECTION DEVICE, SLIPPING DETECTION PROGRAM, AND SLIPPING DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2021/066122
Kind Code:
A1
Abstract:
Provided is a holding tool that is capable of detecting slipping of an object. This holding tool comprises a pair of holding parts (11) that clamps an object, an opening and closing mechanism that opens and closes the pair of holding parts (11), and at least one sensor unit (20) that is provided on one or both of the pair of holding parts (11). The sensor unit (20) includes a plurality of force sensors (30) arranged in a predetermined distribution. Each of the plurality of force sensors (30) has a function for measuring three axial forces received from the object. The sensor unit (20) is capable of measuring the distribution of load received from the object. Slipping of the object can be detected on the basis of this load distribution.
Inventors:
TAKAO HIDEKUNI (JP)
FUJIWARA MASAO (JP)
FUJIWARA MASAO (JP)
Application Number:
PCT/JP2020/037494
Publication Date:
April 08, 2021
Filing Date:
October 02, 2020
Export Citation:
Assignee:
UNIV KAGAWA NAT UNIV CORP (JP)
International Classes:
A61B17/29; B25J15/08; G01L5/00; G01L5/162
Domestic Patent References:
| WO2018061705A1 | 2018-04-05 |
Foreign References:
| JP2013117458A | 2013-06-13 | |||
| JP2005144573A | 2005-06-09 | |||
| JP2009036557A | 2009-02-19 | |||
| JP2010259677A | 2010-11-18 | |||
| US6188331B1 | 2001-02-13 |
Other References:
TAIYU OKATANIAKIHITO NAKAITOMOYUKI TAKAHATAISAO SHIMOYAMA: "Digest of Technical Papers of 19th International Conference on Solid-State Sensors", ACTUATORS AND MICROSYSTEMS, 2017, pages 75 - 77
See also references of EP 4023174A4
See also references of EP 4023174A4
Attorney, Agent or Firm:
YAMAUCHI PATENT ATTORNEYS (JP)
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