| 摘要 |
PROBLEM TO BE SOLVED: To three-dimensionally detect, with improved accuracy, the magnitude and direction of a force that contacts a contact surface, by a relatively simple construction. SOLUTION: By photographing with a camera an elastomer that is kept so that it can be subjected to elastic deformation and can be recessed toward a back surface side by being pushed from a front surface side, and a pattern spaced by a certain interval on the back surface, or, by placing a wire-shape strain sensor inside the elastomer, from a difference between the initial state of the elastomer and the current state in which a force is exerted, a strain of the elastomer is calculated. Based on a ratio, sum, and difference of the strain of the elastomer separated by a point of action and a point of tangency, the angles between the elastomer and horizontal and vertical components of the pushed force are calculated, and a horizontal component and a vertical component of the pushed force, as well as a magnitude of the pushed force are calculated. COPYRIGHT: (C)2009,JPO&INPIT
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