公开(公告)号：US06593756B1

公开(公告)日：2003-07-15

申请号：US09869285

申请日：2001-09-28

申请人： Peer Schmidt ,  Eric Maël ,  Rolf Würtz

发明人： Peer Schmidt ,  Eric Maël ,  Rolf Würtz

IPC分类号： G01R2726

CPC分类号： H03K17/975

摘要： The invention relates to a tactile sensor in which a fiber (1) is linked with an instrument transformer (4) which is configured as a capacitor in such a manner that if the free end of the fiber is touched by an object, the touch is converted to electric signals. The force acting between the object and the sensor is kept at a minimum by using soft, elastic fibers. The inventive tactile sensor is especially useful for applications in robotics since due to the appropriate arrangement of the sensor on the contact surface of the robot gripper the sensor function is independent of any forces that might occur during the manipulation of objection. Another advantage of the tactile sensor is that it allows the dynamic registration of touches, thereby making it possible to determine the relative speed between the sensor and the object and to detect gliding or slipping movements on the basis of detected vibrations.

摘要翻译： 本发明涉及一种触觉传感器，其中光纤（1）与被配置为电容器的仪表变压器（4）连接，使得如果光纤的自由端被物体触摸，则触摸是 转换成电信号。 通过使用柔软的弹性纤维将作用在物体和传感器之间的力保持在最小。 本发明的触觉传感器对于机器人中的应用特别有用，因为由于传感器在机器人夹持器的接触表面上的适当布置，所以传感器功能独立于在操纵异物期间可能发生的任何力。 触觉传感器的另一个优点在于其允许触摸的动态对准，从而可以确定传感器和物体之间的相对速度，并且基于检测到的振动来检测滑动或滑动运动。