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公开(公告)号：US5799533A
公开(公告)日：1998-09-01
申请号：US622151
申请日：1996-03-27
申请人： Yoshikazu Seki , Makoto Shimojo , Sigeru Sato
发明人： Yoshikazu Seki , Makoto Shimojo , Sigeru Sato
CPC分类号： H01C10/10 , A61B5/1036 , A61B5/11
摘要： A distributed pressure sensor is constructed such that a wire-like electrode member is arranged in the vertical (row) direction so that electrode surfaces alternately appear on the surface and the rear surface of a sheet-shaped pressure sensitive electrically conductive material, and moreover, a wire-like electrode is arranged also in the lateral (line) direction at right angles to the vertical (row) direction, and intersections defined by the electrode members arranged in the vertical direction and the lateral direction are located such that the pressure sensitive electrically conductive material is sandwiched from both the surfaces. The distributed pressure sensor has high flexibility and exhibits improved durability to repeated bending.
摘要翻译： 分布式压力传感器被构造为使得线状电极构件沿垂直（行）方向布置，使得电极表面交替地出现在片状压敏导电材料的表面和后表面上，此外， 线状电极也沿垂直（行）方向在横向（线）方向上布置，并且由沿垂直方向和横向方向布置的电极构件限定的交叉点定位成使得压敏电 导电材料从两个表面夹持。 分布式压力传感器具有高柔性，并且对反复弯曲具有改进的耐久性。
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公开(公告)号：US08650971B2
公开(公告)日：2014-02-18
申请号：US13321972
申请日：2010-05-14
IPC分类号： G01L1/22
摘要： A simply-structured initial slippage detection mechanism. When a contact member comes in contact with a contact receiving member via a pressure-sensitive conductive sheet, it is confirmed, on the basis of a change in resistivity of the pressure-sensitive conductive sheet and in response to a detection signal transmitted from the pressure-sensitive conductive sheet, that initial slippage has occurred right before the occurrence of slippage displacement, at a time when a high-frequency waveform component generated right before the occurrence of the slippage displacement of the contact member 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.
摘要翻译： 简单结构化的初始滑动检测机制。 当接触构件通过压敏导电片与接触构件接触时，基于压敏导电片的电阻率的变化并且响应于从压力传递的检测信号，确认 在接触构件的滑动位移发生之前产生的高频波形分量超过预定的阈值时，在发生滑移位移之前发生初始滑动。 因此，可以实现滑动检测部更小，更轻，更薄的滑动检测装置。
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3.发明授权公开(公告)号：US07784362B2
公开(公告)日：2010-08-31
申请号：US12097211
申请日：2006-11-08
申请人： Makoto Shimojo
发明人： Makoto Shimojo
IPC分类号： G01D7/00
摘要： For manufacturing a sensor covering a free-form surface, detection elements in which the electric resistance between a first electrode and a second electrode varies when a load is acted on, and cables 12 connecting the adjoining detection elements are provided. Each cable 12 connects a first electrode 21 of a first detection element 11-(i, j) to a first electrode 21 of a second detection element 11-(i+1, j) via first resistances 32-1 to 32-4, and connects a second electrode 22 of the first detection element 11-(i, j) to a second electrode of the second detection element 11-(i+1, j) via second resistances 32-5 to 32-8. The cables 12 can be deformed. The two dimensional load distribution center position detection sensor 2 can cover a free-formed surface. This sensor is easy to manufacture because an elaborate sheet-shaped resistor is not needed.
摘要翻译： 为了制造覆盖自由形状表面的传感器，当施加负载时，第一电极和第二电极之间的电阻变化的检测元件，以及连接相邻的检测元件的电缆12。 每个电缆12经由第一电阻32-1至32-4将第一检测元件11-（i，j）的第一电极21连接到第二检测元件11-（i + 1，j）的第一电极21， 并且经由第二电阻32-5〜32-8将第一检测元件11-（i，j）的第二电极22与第二检测元件11-（i + 1，j）的第二电极连接。 电缆12可以变形。 二维负荷分布中心位置检测传感器2可以覆盖自由形成的表面。 该传感器易于制造，因为不需要精细的片状电阻器。
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4.发明申请公开(公告)号：US20090183577A1
公开(公告)日：2009-07-23
申请号：US12097211
申请日：2006-11-08
申请人： Makoto Shimojo
发明人： Makoto Shimojo
IPC分类号： G01L5/00
摘要： For manufacturing a sensor covering a free-form surface, detection elements in which the electric resistance between a first electrode and a second electrode varies when a load is acted on, and cables 12 connecting the adjoining detection elements are provided. Each cable 12 connects a first electrode 21 of a first detection element 11-(i, j) to a first electrode 21 of a second detection element 11-(i+1, j) via first resistances 32-1 to 32-4, and connects a second electrode 22 of the first detection element 11-(i, j) to a second electrode of the second detection element 11-(i+1, j) via second resistances 32-5 to 32-8. The cables 12 can be deformed. The two dimensional load distribution center position detection sensor 2 can cover a free-formed surface. This sensor is easy to manufacture because an elaborate sheet-shaped resistor is not needed.
摘要翻译： 为了制造覆盖自由形状表面的传感器，当施加负载时，第一电极和第二电极之间的电阻变化的检测元件，以及连接相邻的检测元件的电缆12。 每个电缆12经由第一电阻32-1至32-4将第一检测元件11-（i，j）的第一电极21连接到第二检测元件11-（i + 1，j）的第一电极21， 并且经由第二电阻32-5〜32-8将第一检测元件11-（i，j）的第二电极22与第二检测元件11-（i + 1，j）的第二电极连接。 电缆12可以变形。 二维负荷分布中心位置检测传感器2可以覆盖自由形成的表面。 该传感器易于制造，因为不需要精细的片状电阻器。
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公开(公告)号：US08490501B2
公开(公告)日：2013-07-23
申请号：US12992757
申请日：2008-05-29
IPC分类号： G01L1/00
CPC分类号： B25J13/084 , B25J13/086 , B25J15/0009 , G01L5/226 , G01L5/228 , G01V11/00
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120067142A1
公开(公告)日：2012-03-22
申请号：US13321972
申请日：2010-05-14
IPC分类号： G01L5/00
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20110067504A1
公开(公告)日：2011-03-24
申请号：US12992757
申请日：2008-05-29
IPC分类号： G01L1/00
CPC分类号： B25J13/084 , B25J13/086 , B25J15/0009 , G01L5/226 , G01L5/228 , G01V11/00
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US5754433A
公开(公告)日：1998-05-19
申请号：US622422
申请日：1996-03-27
申请人： Yukio Fukui , Hiroshi Yokoi , Makoto Shimojo
发明人： Yukio Fukui , Hiroshi Yokoi , Makoto Shimojo
CPC分类号： G06F3/0346 , G06F3/011 , Y10S414/122
摘要： The computer-aided design system of the present invention is characterized in that a grasping force sensor 4 is mounted on that operating bar 3 at the front end of a manipulator 1 which is grasped directly and operated by an operator, and that the mechanical response characteristics of the system are varied on the basis of an output from the grasping force sensor 4. That is, the rigidity on the part of the manipulator is increased in response to a high grasping force during operation, since the rigidity of the hand is also high; and the rigidity on the part of the manipulator is decreased for a low grasping force during operation, since the rigidity of the hand is also low. In scenes in which a space on a computer screen defining no shapes is crossed by a cusor on the screen, a weak grip will lower the rigidity on the part of the manipulator, thus achieving the feeling of a smooth operation. If a slight and precise change in the shape on the screen is desired, a firm grip will make the rigidity of the manipulator high, thus achieving meticulous actions of the operating bar with the same external force.
摘要翻译： 本发明的计算机辅助设计系统的特征在于，把持力传感器4安装在操作杆1的前端，操作杆3的前端被操作者直接抓住并操作，机械响应特性 基于来自把持力传感器4的输出而变化的系统。即，由于手的刚度也高，所以机械手的一部分的刚性响应于操作中的高抓地力而增加 ; 并且由于手的刚度也低，所以在操作期间由于操作者的抓紧力而使机械手部分的刚度降低。 在没有形状的计算机屏幕上的空间被屏幕上的细针穿过的场景中，弱手柄将降低操纵器部分的刚度，从而实现平滑操作的感觉。 如果需要在屏幕上略微精确地改变形状，则牢固的把手将使机械手的刚度变高，从而实现相同外力的操作杆的细致动作。
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