公开(公告)号：US20120091927A1

公开(公告)日：2012-04-19

申请号：US13260180

申请日：2010-03-31

Applicant: Takeshi Yano ,  Kazuo Yakuwa ,  Akio Yano ,  Sze Keat Chee ,  Toshiro Higuchi

Inventor： Takeshi Yano ,  Kazuo Yakuwa ,  Akio Yano ,  Sze Keat Chee ,  Toshiro Higuchi

IPC: H02N2/06 ,  G01L1/16

CPC classification number: H02N2/06 ,  G01L5/226 ,  H02N2/043

Abstract: The present invention relates to a method of measuring and evaluating rigidity of a target object or mechanical output, such as force, displacement, and mechanical energy generated by a piezoelectric actuator and applied to the target object, according to only a measured value of electric quantity without use of a mechanical sensor, and a method of controlling the piezoelectric actuator, and a device using these methods.Steps of finding equivalent circuit constants of the piezoelectric actuator; applying a voltage to the piezoelectric actuator and measuring electrical quantity flowing into the piezoelectric actuator due to the applied voltage, or applying an electric charge to the piezoelectric actuator and measuring voltage applied to the piezoelectric actuator due to the applied electric charge; and measuring and evaluating one or more of force, displacement, or mechanical energy generated by the piezoelectric actuator and applied to a target object, or rigidity of a target object are included. While these values are measured and evaluated minutely, applied voltage and electrical quantity are adjusted and controlled.

Abstract translation: 本发明涉及一种测量和评估目标物体或机械输出的刚度的方法，例如由压电致动器产生的力，位移和机械能，并且仅根据电量的测量值 而不使用机械传​​感器，以及控制压电致动器的方法，以及使用这些方法的装置。 找到压电致动器的等效电路常数的步骤; 对压电致动器施加电压并测量由于施加的电压而流入压电致动器的电量，或者向压电致动器施加电荷并测量由于所施加的电荷而施加到压电致动器的电压; 并且包括测量和评估由压电致动器产生并施加到目标物体的力，位移或机械能量或目标物体的刚度中的一个或多个。 虽然这些值被精确地测量和评估，但是施加的电压和电量被调整和控制。

公开(公告)号：US20120072131A1

公开(公告)日：2012-03-22

申请号：US13233500

申请日：2011-09-15

Applicant: Tomo IKEBE

Inventor： Tomo IKEBE

IPC: G01L1/04 ,  G06F19/00

CPC classification number: G01L5/226 ,  B25J13/084 ,  G01L5/16

Abstract: A detection device includes: a detecting unit having a first substrate on which a plurality of pressure sensors are disposed around a reference point and a second substrate on which is formed an elastic projection whose center of gravity is positioned in a position overlapping with the reference point and that elastically deforms due to an external force in a state in which the tip of the elastic projection makes contact with the first substrate; and a controller that carries out detection operations for detecting the presence/absence of the external force based on pressure values detected by at least one of the plurality of pressure sensors, and controls the next detection operations of the detection unit based on the result of the previous detection.

Abstract translation: 检测装置包括：检测单元，具有第一基板，多个压力传感器围绕基准点设置在其上;第二基板，其上形成有弹性突起，弹性突起的重心位于与基准点重叠的位置 并且在弹性突起的前端与第一基板接触的状态下由于外力而弹性变形; 以及控制器，其基于由所述多个压力传感器中的至少一个检测到的压力值，执行用于检测所述外力的有无的检测动作，并且基于所述检测单元的结果来控制所述检测单元的下一个检测操作 以前的检测。

公开(公告)号：US20120067142A1

公开(公告)日：2012-03-22

申请号：US13321972

申请日：2010-05-14

Applicant: Makoto Shimojo ,  Seiichi Teshigawara

Inventor： Makoto Shimojo ,  Seiichi Teshigawara

IPC: G01L5/00

CPC classification number: G01L1/20 ,  G01L5/009 ,  G01L5/226

Abstract: What is proposed is simply-structured initial slippage detection means.When a contact member (5) comes in contact with a contact receiving member (2) via a pressure-sensitive conductive sheet (3A), it is confirmed, on the basis of a change in resistivity of the pressure-sensitive conductive sheet (3A) and in response to a detection signal (S1) transmitted from the pressure-sensitive conductive sheet (3A), that initial slippage has occurred right before the occurrence of slippage displacement, at a time when a high-frequency waveform component (VpX) generated right before the occurrence of the slippage displacement of the contact member (5) exceeds a predetermined threshold value. Therefore, it is possible to realize a slippage detection device whose slippage detection section is smaller, more lightweight and thinner.

Abstract translation: 提出的是简单结构化的初始滑动检测手段。 当接触构件（5）通过压敏导电片（3A）与接触构件（2）接触时，可以基于压敏导电片（3A）的电阻率变化来确认 ），并且响应于从压敏导电片（3A）发送的检测信号（S1），在产生滑移位移之前发生初始滑动，当产生高频波形分量（VpX）时 在接触构件（5）的滑动位移发生之前超过预定阈值。 因此，可以实现滑动检测部更小，更轻，更薄的滑动检测装置。

公开(公告)号：US20110067504A1

公开(公告)日：2011-03-24

申请号：US12992757

申请日：2008-05-29

Applicant: Junji Koyama ,  Makoto Shimojo ,  Yoshitomo Mizoguchi

Inventor： Junji Koyama ,  Makoto Shimojo ,  Yoshitomo Mizoguchi

IPC: G01L1/00

CPC classification number: B25J13/084 ,  B25J13/086 ,  B25J15/0009 ,  G01L5/226 ,  G01L5/228 ,  G01V11/00

Abstract: A complex sensor comprises a touch sensor and a proximity sensor. The touch sensor comprises a flexible pressure-sensitive sheet covering a fingertip portion. The pressure-sensitive sheet comprises a front surface film and a rear surface film composed of a flexible conductive material, an intermediate film which is sandwiched between the films in a state in which the intermediate film is electrically connected and which is composed of pressure-sensitive conductive rubber, and first to fourth electrode terminals formed on the front surface and rear surface films. The size of a load acting on the pressure-sensitive sheet and the center position of the load can be detected based on the terminal voltage. A through-hole is formed in the pressure-sensitive sheet such that the sensing surface of the proximity sensor is exposed, thus the approach of a holding object can be detected.

Abstract translation: 复杂的传感器包括触摸传感器和接近传感器。 触摸传感器包括覆盖指尖部分的柔性压敏片。 压敏片包括前表面膜和由柔性导电材料构成的后表面膜，中间膜在中间膜电连接的状态下夹在膜之间，并且由压敏片 导电橡胶和形成在前表面和后表面上的第一至第四电极端子。 可以基于端子电压检测作用在压敏片上的负载的大小和负载的中心位置。 在压敏片中形成通孔，使得接近传感器的感测表面露出，从而可以检测到保持对象的接近。

公开(公告)号：US07784363B2

公开(公告)日：2010-08-31

申请号：US12241320

申请日：2008-09-30

Applicant: Chris A. Ihrke ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Bryan Kristian Griffith

Inventor： Chris A. Ihrke ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Bryan Kristian Griffith

IPC: G01D7/00

CPC classification number: G01L1/2243 ,  B25J13/084 ,  G01L5/226

Abstract: A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.

Abstract translation: 一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。 称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。 应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。 称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

公开(公告)号：US07669480B2

公开(公告)日：2010-03-02

申请号：US11886956

申请日：2006-03-27

Applicant: Satoshi Maekawa

Inventor： Satoshi Maekawa

IPC: G01B7/16

CPC classification number: G01L5/161 ,  B25J13/082 ,  G01L5/226

Abstract: A sensor element capable of appropriately detecting an external force operating three-dimensionally is provided. The sensor element includes an elastic member which can be compressed or expanded by an external force received from an object, a resistance element whose electric resistance value rises or falls when deformed by the external force, and a support member arranged inside or on the surface of the elastic member and capable of supporting the resistance element disposed at a predetermined position. The sensor element is applied to an object movement control device and an object judgment device.

Abstract translation: 提供能够适当地检测三维作用的外力的传感器元件。 传感器元件包括弹性构件，该弹性构件可以通过从物体接收的外力被压缩或膨胀，电阻值由外力变形时电阻值上升或下降的电阻元件以及布置在外部的表面内的支撑构件 弹性构件，并且能够支撑设置在预定位置的电阻元件。 将传感器元件应用于物体移动控制装置和物体判断装置。

公开(公告)号：US07460964B2

公开(公告)日：2008-12-02

申请号：US10571371

申请日：2004-09-10

Applicant: Terukazu Mizota ,  Kazuto Kamiyama ,  Hiroyuki Kajimoto ,  Naoki Kawakami ,  Susumu Tachi

Inventor： Terukazu Mizota ,  Kazuto Kamiyama ,  Hiroyuki Kajimoto ,  Naoki Kawakami ,  Susumu Tachi

IPC: G01L1/06 ,  G01L7/02 ,  G01L11/02

CPC classification number: G01L1/241 ,  G01L1/247 ,  G01L5/226 ,  G01L5/228

Abstract: The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.

Abstract translation: 本发明涉及一种用于减少力矢量计算的计算时间的技术。 使用光学触觉传感器的力矢量重建方法包括：当物体接触到弹性体的接触表面时，通过拍摄彩色标记的行为的图像来获得标记图像的步骤，获得与标记相关的信息的步骤 来自标记图像的行为，所述信息大于要获得的力向量的数量;以及通过将与获得的标记行为相关的信息输入到传递函数来获得力向量作为输出的步骤。 获得力矢量的步骤包括使用仅与期望获得力矢量的位置A的相邻区域A1的标记的行为有关的信息来计算力向量。

公开(公告)号：US20080027582A1

公开(公告)日：2008-01-31

申请号：US10592243

申请日：2005-03-04

Applicant: Goro Obinata ,  Kiyoshi Oka ,  Hiroki Miura ,  Nobuhiko Moriyama

Inventor： Goro Obinata ,  Kiyoshi Oka ,  Hiroki Miura ,  Nobuhiko Moriyama

IPC: G05B19/00 ,  B25J13/08 ,  B25J19/02 ,  G01L5/00 ,  G01N19/02

CPC classification number: B25J13/082 ,  B25J13/084 ,  G01L5/226 ,  G01N19/02

Abstract: An optical tactile sensor has a touch pad and a CCD camera for imaging behavior of the touch pad. A CPU processes image information from the CCD camera, extracts information on the size, shape, and center of gravity of a contact region, and extracts information on the size of a fixation region. The CPU obtains a normal force from the size of the contact region, obtains a tangential force from the shape of the contact region and the center of gravity of the contact region, and obtains a friction coefficient from the ratio of the size of the fixation region to the size of the contact region.

Abstract translation: 光学触觉传感器具有用于成像触摸板行为的触摸板和CCD相机。 CPU处理来自CCD摄像机的图像信息，提取关于接触区域的尺寸，形状和重心的信息，并提取关于固定区域的尺寸的信息。 CPU从接触区域的尺寸获得法向力，从接触区域的形状和接触区域的重心获得切向力，并且从固定区域的尺寸的比率获得摩擦系数 达到接触区域的大小。

公开(公告)号：US20070043508A1

公开(公告)日：2007-02-22

申请号：US10571371

申请日：2004-09-10

Applicant: Terukazu Mizota ,  Kazuto Kamiyama ,  Hiroyuki Kajimoto ,  Naoki Kawakami ,  Susumu Tachi

Inventor： Terukazu Mizota ,  Kazuto Kamiyama ,  Hiroyuki Kajimoto ,  Naoki Kawakami ,  Susumu Tachi

IPC: G06F19/00

CPC classification number: G01L1/241 ,  G01L1/247 ,  G01L5/226 ,  G01L5/228

Abstract: The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.

Abstract translation: 本发明涉及一种用于减少力矢量计算的计算时间的技术。 使用光学触觉传感器的力矢量重建方法包括：当物体接触到弹性体的接触表面时，通过拍摄彩色标记的行为的图像来获得标记图像的步骤，获得与标记相关的信息的步骤 来自标记图像的行为，所述信息大于要获得的力向量的数量;以及通过将与获得的标记行为相关的信息输入到传递函数来获得力向量作为输出的步骤。 获得力矢量的步骤包括仅使用与希望获得力矢量的位置A的相邻区域A 1的标记的行为有关的信息来计算力矢量。

公开(公告)号：US20030115954A1

公开(公告)日：2003-06-26

申请号：US10017280

申请日：2001-12-07

Inventor： Vladimir Zemlyakov ,  Patrick McDonough

IPC: A61B005/22 ,  G01L003/24 ,  G01L005/00 ,  A61F005/00

CPC classification number: G01L5/226 ,  A61B5/022 ,  A61B5/11 ,  A61B5/22 ,  A63B21/00069 ,  A63B21/002 ,  A63B21/0083 ,  A63B21/155 ,  A63B21/4017 ,  A63B21/4019 ,  A63B21/4021 ,  A63B21/4047 ,  A63B23/03508 ,  A63B23/12 ,  A63B23/1209 ,  A63B23/14 ,  A63B2208/0233 ,  B25J9/0006

Abstract: The adjustable to a user's upper extremity the exoskeleton structure provides testing and exercising of the whole upper extremity in a realistic manner without infringement of a locomotor act and with selective biomechanical information and exercise loading in each anatomical motion direction of every joint simultaneously. The exoskeleton structure comprises jointed means for connection with a user's shouldergirdle, upperarm, forearm, and hand. Those means include measuring-loading blocks to measure muscle forces and joint angles and to apply a dosed exercise load. All measuring-loading blocks in the exoskeleton structure are identical. The exoskeleton structure is able to provide a realistic and comprehensive information about both a complex locomotor act and a selective mono-planar motion for both isometric and isotonic muscular contractions.

Abstract translation: 可调整到使用者的上肢，外骨骼结构以实际的方式提供了整个上肢的测试和锻炼，而不侵犯运动行为，并且在每个关节的每个解剖运动方向上同时进行选择性生物力学信息和运动加载。 外骨骼结构包括用于与使用者的腰带，上臂，前臂和手连接的连接装置。 这些手段包括用于测量肌肉力量和关节角度的测量装载块并施加计量运动负荷。 外骨骼结构中的所有测量装载块是相同的。 外骨骼结构能够提供关于等长肌和等张肌收缩的复杂运动行为和选择性单平面运动的现实和全面的信息。