公开(公告)号：US20190195704A1

公开(公告)日：2019-06-27

申请号：US16291011

申请日：2019-03-04

Applicant: OMRON HEALTHCARE CO., LTD. ,  OMRON Corporation ,  The Ritsumeikan Trust

Inventor： Minoru TANIGUCHI ,  Chisato TAWARA ,  Masao SHIMIZU ,  Tsuyoshi HAMAGUCHI ,  Sadao KAWAMURA ,  Hye Jong KIM ,  Yuki SUGANO

IPC: G01L1/20 ,  G01L7/06 ,  B25J13/08

Abstract: A force detector includes a support, fluid bags, a contact portion, a detector, and a computer. The contact portion is opposite to a side on which the fluid bags are in contact with the support and is adjacent to the fluid bags. The computer obtains information regarding the internal pressures of the fluid bags from the detector. Upon application of an external force to the contact portion from an object, the computer calculates a force acting in a tangential direction on a contact surface between the object and the contact portion based on a difference between the internal pressures of the fluid bags.