| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a technology for determining the trouble of each pressure-sensitive cell of a pressure-sensitive sensor array provided at the holding surface of a robot hand. <P>SOLUTION: This robot device includes a finger tip having an exposed electrode for determining the presence or absence of contact and a plurality of pressure-sensitive cells of a pressure-sensitive sensor array for detecting the magnitude of pressure, a finger joint mechanism for controlling the position of the finger tip, and a robot hand control processor for controlling processing based on detected results of the exposed electrode and the pressure-sensitive cells of the pressure-sensitive sensor array. The robot hand control processor performs first processing (short trouble, open trouble, deterioration of sensitivity) for determining states of the pressure-sensitive cells of the pressure-sensitive sensor array using output values of the pressure-sensitive cells of the pressure-sensitive sensor array obtained when the finger joint mechanism is controlled so that the exposed electrode can detect contact. <P>COPYRIGHT: (C)2013,JPO&INPIT |
