公开(公告)号：US20040125079A1

公开(公告)日：2004-07-01

申请号：US10674538

申请日：2003-10-01

Applicant: Harmonic Drive Systems Inc.

Inventor： Makoto Kaneko ,  Ryuta Horie

IPC: G09G005/00

CPC classification number: G01L5/228 ,  G01L1/205 ,  G01L1/2256 ,  G01L5/009

Abstract: A system for detecting tactile information includes strain-gauge touch sensors and a controller. Based on the sum output from each of touch-sensor sensor units, an analyzer in the controller calculates touch force Fi(t) at each measurement point. An automatic gain control adjusts the voltage amplitude Ai(t) of a sine wave of frequency fi applied to the sensor units at each measurement point to bring the voltage amplitude measured at each measurement point into line with a target voltage, and, via a bandpass filter, applies to each sensor unit a composite sine wave y(t) that includes sine waves of each frequency provided with the thus-adjusted voltage amplitude Ai(t). This makes it possible to reduce the number of lines between the controller and touch sensors that include numerous measurement points, and enables the gain of the touch sensors constituted by strain gauges to be controlled within an appropriate range.

Abstract translation: 用于检测触觉信息的系统包括应变计触摸传感器和控制器。 基于每个触摸传感器传感器单元的总和输出，控制器中的分析器计算每个测量点处的触摸力Fi（t）。 自动增益控制调节在每个测量点施加到传感器单元的频率fi的正弦波的电压幅度Ai（t），使得在每个测量点测量的电压振幅与目标电压一致，并且经由带通 滤波器适用于每个传感器单元的复合正弦波y（t），其包括提供有由此调整的电压振幅A 1（t）的每个频率的正弦波。 这使得可以减少控制器和包括多个测量点的触摸传感器之间的线数，并且使得由应变计构成的触摸传感器的增益能够被控制在适当的范围内。