公开(公告)号：EP3617682A1

公开(公告)日：2020-03-04

申请号：EP19191169.2

申请日：2019-08-12

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： NAKAYAMA, Takahiro ,  HATA, Yoshiyuki ,  FUJIYOSHI, Motohiro ,  OMURA, Yoshiteru

IPC分类号： G01L1/14 ,  G01L5/165 ,  G01L5/22 ,  B25J19/02

摘要： A sensor unit 10 includes at least three kinesthetic-sense sensors 11 arranged along a plane, each including a first force-receiving part 111 configured to receive an external force. The sensor unit 10 includes a connecting member 12 including a second force-receiving part 13 configured to receive an external force, configured to transfer the external force received by the second force-receiving part 13 to each first force-receiving part 111 and connecting the first force-receiving parts 111 with each other. The sensor unit 10 includes an output unit 15 configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part 13, received by the respective first force-receiving parts 111 through the connecting member 12.