公开(公告)号：US4689538A

公开(公告)日：1987-08-25

申请号：US906059

申请日：1986-09-11

申请人： Yuji Sakaguchi ,  Tatuo Terahama

发明人： Yuji Sakaguchi ,  Tatuo Terahama

IPC分类号： B25J9/16 ,  B25J9/04 ,  B25J9/14 ,  B25J13/08 ,  B25J18/02 ,  B25J19/00 ,  F15B15/10 ,  G05B19/18 ,  G05B19/19 ,  G05B19/42

CPC分类号： B25J9/142 ,  B25J18/02 ,  B25J9/046 ,  F15B15/103

摘要： A driving device having tactility includes at least one set of two elastic extensible and contractible bodies having one ends connected to a stationary portion of the device and the other ends connected to a driven member driven by contractive force in axial directions of said elastic bodies caused by expanded diameters by introducing pressurized fluid into the elastic bodies. The driving device comprises detecting means for detecting movements of said driven member, valve means for supplying and exhausting the pressurized fluid into and out of the respective elastic bodies, positioning means for actuating the valve means in response to output signals from the detecting means to position the driven member in predetermined positions, and control means for comparing output signals from the detecting means produced by external actions on the driven member positioned in at least one predetermined position with a reference level to control the positioning means. The driving device can perceive external actions acting on the overall device without requiring any separate tactile sensor.

摘要翻译： 具有触觉性的驱动装置包括至少一组两个弹性伸缩体，其一端连接到装置的固定部分，另一端连接到由所述弹性体的轴向上的收缩力驱动的从动构件，该驱动构件由 通过将加压流体引入到弹性体中来扩大直径。 驱动装置包括用于检测所述从动构件的运动的检测装置，用于将加压流体供给和排出各个弹性体的阀装置，用于响应于来自检测装置的位置的输出信号致动阀装置的定位装置 所述从动构件在预定位置，以及控制装置，用于将位于至少一个预定位置的从动构件上的由外部动作产生的检测装置的输出信号与参考水平进行比较，以控制定位装置。 驱动装置可以感知作用在整个装置上的外部动作，而不需要任何单独的触觉传感器。