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公开(公告)号：US20100090691A1
公开(公告)日：2010-04-15
申请号：US12642175
申请日：2009-12-18
IPC分类号： G01R33/02
摘要： A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.
摘要翻译： 检测装置包括通过捏合和模制磁体材料和粘弹性材料获得的粘弹性磁体和磁通量检测单元，其检测由于粘弹性磁体的变形引起的磁通密度矢量的变化。
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2.发明授权公开(公告)号：US08644986B2
公开(公告)日：2014-02-04
申请号：US12208563
申请日：2008-09-11
IPC分类号： G06F19/00
CPC分类号： G05B13/021 , B25J9/1612 , G05B2219/39505 , G05B2219/40264 , G05B2219/40567
摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。
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3.发明申请公开(公告)号：US20090076657A1
公开(公告)日：2009-03-19
申请号：US12208563
申请日：2008-09-11
IPC分类号： G05B13/00
CPC分类号： G05B13/021 , B25J9/1612 , G05B2219/39505 , G05B2219/40264 , G05B2219/40567
摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。
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公开(公告)号：US08536863B2
公开(公告)日：2013-09-17
申请号：US12642175
申请日：2009-12-18
IPC分类号： G01R33/02
摘要： A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.
摘要翻译： 检测装置包括通过捏合和模制磁体材料和粘弹性材料获得的粘弹性磁体和磁通量检测单元，其检测由于粘弹性磁体的变形引起的磁通密度矢量的变化。
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公开(公告)号：US07984658B2
公开(公告)日：2011-07-26
申请号：US12181369
申请日：2008-07-29
IPC分类号： G01L1/26
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US07663362B2
公开(公告)日：2010-02-16
申请号：US11835815
申请日：2007-08-08
IPC分类号： G01R33/02
摘要： A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.
摘要翻译： 检测装置包括通过捏合和模制磁体材料和粘弹性材料获得的粘弹性磁体和磁通量检测单元，其检测由于粘弹性磁体的变形引起的磁通密度矢量的变化。
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公开(公告)号：US08499651B2
公开(公告)日：2013-08-06
申请号：US13171525
申请日：2011-06-29
IPC分类号： G01L1/26
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US08510063B2
公开(公告)日：2013-08-13
申请号：US12621205
申请日：2009-11-18
申请人： Toshimitsu Tsuboi , Takeo Kishida
发明人： Toshimitsu Tsuboi , Takeo Kishida
IPC分类号： A61B5/22
CPC分类号： G01B5/14 , B25J9/1612 , B25J13/082 , G01N19/02
摘要： A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
摘要翻译： 控制装置包括力检测器，被配置为分别作为法向力和剪切力检测机器人手持设备的指尖的法线方向的力和剪切方向的力;以及被配置为计算摩擦系数的物体检测器 使用由力检测器检测到的法向力和剪切力，并且基于计算来检测在指尖之间是否掌握具有与指尖之间的最大静摩擦系数不同的最大摩擦系数的薄膜物体 结果。
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公开(公告)号：US08949044B2
公开(公告)日：2015-02-03
申请号：US13938680
申请日：2013-07-10
申请人： Toshimitsu Tsuboi , Takeo Kishida
发明人： Toshimitsu Tsuboi , Takeo Kishida
CPC分类号： G01B5/14 , B25J9/1612 , B25J13/082 , G01N19/02
摘要： A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
摘要翻译： 控制装置包括力检测器，被配置为分别作为法向力和剪切力检测机器人手持设备的指尖的法线方向的力和剪切方向的力;以及被配置为计算摩擦系数的物体检测器 使用由力检测器检测到的法向力和剪切力，并且基于计算来检测在指尖之间是否掌握具有与指尖之间的最大静摩擦系数不同的最大摩擦系数的薄膜物体 结果。
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公开(公告)号：US20130291621A1
公开(公告)日：2013-11-07
申请号：US13938680
申请日：2013-07-10
申请人： Toshimitsu Tsuboi , Takeo Kishida
发明人： Toshimitsu Tsuboi , Takeo Kishida
CPC分类号： G01B5/14 , B25J9/1612 , B25J13/082 , G01N19/02
摘要： A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
摘要翻译： 控制装置包括力检测器，被配置为分别作为法向力和剪切力检测机器人手持设备的指尖的法线方向的力和剪切方向的力;以及被配置为计算摩擦系数的物体检测器 使用由力检测器检测到的法向力和剪切力，并且基于计算来检测在指尖之间是否掌握具有与指尖之间的最大静摩擦系数不同的最大摩擦系数的薄膜物体 结果。
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