초록 ▼

The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real

The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened. Moreover, after executing local processing, through the use of an encoder and pressure-sensitive sheet sensor provided in each of the joints, in addition to the information processing means, [this data] is sent to the CPU, whereby the central operation processing load is lightened.

대표청구항 ▼

1. A pressure-distribution sensor for controlling a multi-jointed nursing robot, wherein a pressure-sensitive sheet sensor, in which column electrodes arranged in parallel on a sheet of substrate material and row electrodes arranged in a wound-string shape also on a sheet of substrate material are o

1. A pressure-distribution sensor for controlling a multi-jointed nursing robot, wherein a pressure-sensitive sheet sensor, in which column electrodes arranged in parallel on a sheet of substrate material and row electrodes arranged in a wound-string shape also on a sheet of substrate material are overlapped with pressure-sensitive resistive raw material interposed there between, the pressure-sensitive sheet sensor being wound around the outer surface of an arm constituted by multiple joints in which a plurality of joint units having a cylindrical shape both end portions of which are cut at an inclined angle are serially connected, and wherein the points of intersection of both said electrodes are distributed over the whole of the outer surface area of said joint units, whereby it is possible to detect pressure distribution.