Detection device, electronic apparatus, and robot

摘要

A detection device includes a first substrate that has a plurality of pressure sensors disposed around a reference point, and a second substrate on which disposed an elastic projection whose center is positioned in a position overlapping with the reference point and that elastically deforms due to the external force in a state in which the tip portion of the elastic projection makes contact with the first substrate. When an external force has been applied, the direction and intensity of the applied external force is found by carrying out a predetermined calculation using pressure values detected by the pressure sensors.

主权项

1. A detection device comprising:
a first substrate on which is arranged a plurality of pressure sensors; and a second substrate having:
an elastic projection that is elastically deformed in a state in which its tip end portion contacts each of the pressure sensors due to external pressure; anda support substrate arranged on a side opposite to the first substrate with respect to the elastic projection, the plurality of pressure sensors being disposed symmetrically, with a contact part serving as the point of symmetry, the plurality of pressure sensors being disposed in matrix form in two directions that are orthogonal to each other, and the direction of the external pressure being defined by a component in an x-direction (Fx), a component in a y-direction (Fy), and a component in a z-direction (Fz) based on the following formulas:Fx=∑i⁢Pi⁢rxi∑i⁢Pi⁢;Fy=∑Pi⁢ryi∑i⁢Pi;and⁢⁢Fz=∑Pi⁢rzi∑i⁢Piwhere Pi is the detected value at each sensor, i=total number of sensors, rxi is a distance between the contact part and a respective sensor in the x-direction; ryi is a distance between the contact part and a respective sensor in the y-direction; and rzi a distance between the contact part and a respective sensor in a z-direction.