Force detection device, robot, and moving object

摘要

A force detection device includes a charge output element that outputs charge in accordance with a received external force, a conversion and output circuit, having a first switching element and a first capacitor, which converts the charge into a voltage and outputs the voltage, a compensation signal output circuit, having a second switching element and a second capacitor, which outputs a compensation signal, and an external force detection circuit that detects an external force on the basis of the voltage which is output from the conversion and output circuit and the compensation signal which is output from the compensation signal output circuit. The capacitance of the second capacitor is smaller than the capacitance of the first capacitor.

主权项

1. A force detection device comprising:
a first element and a second element that output voltages in accordance with an external force; and an external force detection circuit that detects the external force on the basis of the voltages that are output from the first element and the second element, wherein the first element and the second element include
a piezoelectric substance having an electric axis and that outputs charge in accordance with the external force along the electric axis, anda conversion and output circuit that converts the charge that is output from the piezoelectric substance into the voltage, wherein: the first element and the second element are disposed so that a direction of the electric axis included in the piezoelectric substance of the first element and a direction of the electric axis included in the piezoelectric substance of the second element are opposite to each other, and the external force detection circuit detects the external force applied to the force detection device by taking a difference between the voltages that are output from the first element and the second element.