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Tactile sensor unit, robot including the tactile sensor unit, and load calculation method

外国特許コード F120007029
掲載日 2012年11月19日
出願国 アメリカ合衆国
出願番号 201013201318
公報番号 20110301876
公報番号 8725431
出願日 平成22年2月12日(2010.2.12)
公報発行日 平成23年12月8日(2011.12.8)
公報発行日 平成26年5月13日(2014.5.13)
国際出願番号 JP2010052100
国際公開番号 WO2010095573
国際出願日 平成22年2月12日(2010.2.12)
国際公開日 平成22年8月26日(2010.8.26)
優先権データ
  • 特願2009-035903 (2009.2.18) JP
  • 2010JP052100 (2010.2.12) WO
発明の名称 (英語) Tactile sensor unit, robot including the tactile sensor unit, and load calculation method
発明の概要(英語) A tactile sensor unit is provided, which includes a substrate; a coat formed on the substrate; and a cantilever beam structure having one end fixed to the substrate and curved to rise in such a direction that the other end of the cantilever beam structure is farther from the substrate than the one end.
The tactile sensor unit detects a load applied to the coat.
The cantilever beam structure is capable of resonating at a first resonant frequency and a second resonant frequency which is different from the first resonant frequency.
The tactile sensor unit further includes a computation section for calculating a directional component of the load based on a change ratio of the first resonant frequency obtained in accordance with a change in the load and a change ratio of the second resonant frequency obtained in accordance with the change in the load.
特許請求の範囲(英語) [claim1]
1. A tactile sensor unit, comprising: a substrate;
a coat formed on the substrate; and
a cantilever beam structure having one end fixed to the substrate and curved to rise in such a direction that the other end of the cantilever beam structure is farther from the substrate than the one end;
the tactile sensor unit detecting a load applied to the coat;
wherein:
the cantilever beam structure is capable of resonating at a first resonant frequency and a second resonant frequency which is different from the first resonant frequency; and
the tactile sensor unit further comprising a computation section for calculating a directional component of the load based on a change ratio of the first resonant frequency obtained in accordance with a change in the load and a change ratio of the second resonant frequency obtained in accordance with the change in the load;
the first resonant frequency is a frequency in a first resonance mode;
the second resonant frequency is a frequency in a second resonance mode which is different from the first resonance mode; and
the computation means includes: voltage application means for applying AC voltages of a plurality of different frequencies to a piezoelectric layer included in the cantilever beam structure to resonate the cantilever beam structure in the first resonance mode and the second resonance mode;
resonant frequency detection means for detecting the first resonant frequency and the second resonant frequency; and
load calculation means for, where a load-free state is a state in which no load is applied to the coat, calculating a directional component of the load in a direction normal to the coat and another directional component of the load in a shear direction based on a first change ratio with respect to the load-free state, which is a change ratio of the first resonant frequency obtained in accordance with the change in the load, and also based on a second change ratio with respect to the load-free state, which is a change ratio of the second resonant frequency obtained in accordance with the change in the load.
[claim2]
2. A tactile sensor unit according to claim 1, wherein: the voltage application means applies an AC voltage of a still different frequency to the piezoelectric layer to further resonate the cantilever beam structure in a third resonance mode;
the resonant frequency detection means further detects a third resonant frequency, which is a frequency in the third resonance mode, of the cantilever beam structure; and
the load calculation means calculates a directional component of the load in the direction normal to the coat and directional components of the load in two shear directions based on a third change ratio with respect to the load-free state, which is a change ratio of the third resonant frequency obtained in accordance with the change in the load, the components of the load in the two shear directions being perpendicular to each other.
[claim3]
3. A tactile sensor unit according to any one of claims 1 or 2, wherein: the cantilever beam structure is asymmetric with respect to each of the directional components of the load; and
the cantilever beam structure includes a plurality of electrodes insulated from each other.
[claim4]
4. A robot including a tactile sensor unit according to claim 1, wherein the substrate, the coat and the cantilever beam structure are provided in a portion of the robot which is contactable with an object which is to contact the robot.
[claim5]
5. A load calculation method for calculating a load applied to a coat of a tactile sensor unit which includes a substrate, the coat formed on the substrate, a computation section, and a cantilever beam structure; wherein the cantilever beam structure has one end fixed to the substrate and is curved to rise in such a direction that the other end of the cantilever beam structure is farther from the substrate than the one end, and is capable of resonating at a first resonant frequency and a second resonant frequency which is different from the first resonant frequency;
the load calculation method performed in the computation section comprising:
a change ratio calculation step of calculating a change ratio of the first resonant frequency obtained in accordance with a change in the load and a change ratio of the second resonant frequency obtained in accordance with the change in the load;
a directional component calculation step of calculating a directional component of the load based on the change ratio of the first resonant frequency obtained in accordance with the change in the load and the change ratio of the second resonant frequency obtained in accordance with the change in the load;
a step of dividing a calculation area into a plurality of quadrants in accordance with whether a normal load and a shear load, among the loads applied to the coat, are each positive or negative; and
a correction step of correcting an error on each of the loads at a point, among points in each of the plurality of quadrants, at which an absolute value of the normal load and an absolute value of the shear load are both maximum.
  • 発明者/出願人(英語)
  • YAMASHITA KAORU
  • KYOTO INSTITUTE OF TECHNOLOGY
国際特許分類(IPC)
米国特許分類/主・副
  • 702/41
  • 73/774
  • 73/777
  • 73/862.381
  • 73/862.59
  • 310/338
  • 700/258
  • 901/33
  • 901/46
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