| 摘要 |
The invention relates to a device for detecting the spatial pattern on surfaces and/or the shape of objects, and/or the local displacements on surfaces, and/or for slip-free gripping and lifting of an object applying an adequate compression force thereon. The device contains deformable, resilient sensor carrier layers (1) and deformable intermediate layers (4) therebetween, wherein the individual intermediate layers (4) are more easily deformable than the adjacent sensor carrier layers (1). The surfaces of the sensor carrier layers (1) and the intermediate layers (4) are articulated by geometrical formations (7) forming convex surface parts (8) on one of the surfaces of the sensor carrier layers (1) and the intermediate layers (4) and concave surface parts (9) on the other surfaces thereof, except for the external surfaces of exterior sensor carrier layers (1). Each of the convex surface parts (8) of the sensor carrier layers (1) has the same shape and size as the corresponding concave surface part (9) of the adjacent sensor carrier layer (1) and the convex surface part (8) is fitted into the concave surface part (9) with the intermediate layer (4) in between. Sensors (10) are connected to the convex surface parts (8) of the sensor carrier layers (1) and to the corresponding concave surface parts (9) of the adjacent sensor carrier layers (1) in pairs for detecting the extent of the displacement between the convex surface parts (8) and the concave surface parts (9), and/or the rate of this displacement, and/or the extent of tension or compression resulting from this displacement. The sensors (10) are provided with means for carrying the output signals thereof.
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