公开(公告)号：US20240253252A1

公开(公告)日：2024-08-01

申请号：US18561466

申请日：2022-05-09

Applicant: NISSHA CO.,LTD.

Inventor： Yuji WATAZU ,  Katsumi TOKUNO ,  Yuu KUWATAKA ,  Shingo ASAKA ,  Ayuko TSURUOKA

IPC: B25J19/02 ,  B25J15/08 ,  G01L1/14 ,  G01L5/165 ,  G01L5/22

CPC classification number: B25J19/02 ,  B25J15/08 ,  G01L1/142 ,  G01L5/165 ,  G01L5/226

Abstract: A tactile sensor-attached finger is mountable on a robotic hand to reduce damage and failure caused by a grip target coming in contact with a part of a finger member other than its palm surface. A tactile sensor-attached finger (1F) for a robot hand for gripping a grip target includes a finger member (2) including a palm surface (21a) to be in contact with the grip target, a back surface (21b) opposite to the palm surface (21a), an end surface (21c) adjacent to the palm and back surfaces (21a, 21b) on ends of the palm and back surfaces (21a, 21b) in an extension direction in which the palm and back surfaces (21a, 21b) extend, and two side surfaces (21d) adjacent to the palm and back surfaces (21a, 21b) in a direction intersecting with the extension direction, and a tactile sensor (5) being a film attached to an outer surface of a housing (21) included in the finger member (2) and including a pressure-sensitive area (5a) overlapping the palm surface (21a) and at least one of the end surface (21c), one of the two side surfaces (21d), or the other of the two side surfaces (21d).

公开(公告)号：US20240280422A1

公开(公告)日：2024-08-22

申请号：US18571463

申请日：2022-03-30

Applicant: NISSHA CO.,LTD.

Inventor： Ayuko TSURUOKA ,  Yuji WATAZU

IPC: G01L1/14 ,  G06F3/044

CPC classification number: G01L1/142 ,  G06F3/044 ,  G06F2203/04105 ,  G06F2203/04107

Abstract: A thin and durable detection unit for a shear force sensor is disclosed. The detection unit detects shear forces in a plurality of directions. A detection circuit is connected to a first electrode layer and a second electrode layer. First driving electrodes and second driving electrodes insulated from each other by first isolation trenches are formed in the first electrode layer. The second driving electrodes also serving as third driving electrodes and the first driving electrodes also serving as fourth driving electrodes insulated from each other by second isolation trenches are formed in the first electrode layer. First detection electrodes and second detection electrodes are formed in the second electrode layer.