| 主权项 |
1. A grasping apparatus for grasping an object; the grasping apparatus comprising:
at least two grasping portions configured to grasp the object; and at least two pressure sensing mechanisms disposed in the corresponding grasping portions, the pressure sensing mechanisms configured to detect a grasping force between the grasping portions when the object is grasped; wherein each of the at least two the pressure sensing mechanisms comprises two parallel metal films and an elastic portion therebetween; wherein the elastic portion is configured to deform to decrease the distance between the metal films, thereby enabling adjustment of the grasping force based on the detected grasping force; and wherein the pressure sensing mechanism further includes a power source, an output terminal, a first amplifier, a second amplifier, a third amplifier, a first resistor, a second resistor, and an equivalent capacitor; an output terminal of the first amplifier is electrically connected to the output terminal, and an input terminal of the first amplifier is electrically connected to the power source; an output terminal of the second amplifier is electrically connected to the power source, and an input terminal of the first amplifier is electrically connected to an output terminal of the third amplifier; an input terminal of the third amplifier is electrically connected to a first terminal of the first resistor; a second terminal of the first resistor is electrically connected to the output terminal via the second resistor; a first terminal of the equivalent capacitor is electrically connected to the power source, and a second terminal of the equivalent capacitor is electrically connected between the first resistor and the second resistor. |
