| 主权项 |
1. A robot comprising:
a piezoelectric substrate including a trigonal single crystal having crystal axes; a first electrode on a first surface of the piezoelectric substrate; a second electrode on a second surface, the first and second surfaces being on opposite sides of the piezoelectric substrate; an arithmetic unit which detects an amount of electric charge induced in the first or second electrode and calculates a force applied to the piezoelectric substrate; a rotatable arm portion; and a hand portion supported on the arm portion via the piezoelectric substrate, the hand portion being adapted to grip an object; wherein the first surface of the piezoelectric substrate includes an electrical axis of the crystal axes, an angle θ between the first surface and a plane including the electrical axis and an optical axis of the crystal axes is 0°<θ<20°, and a material for the piezoelectric electric substrate is selected from the group consisting of langasite (La3Ga5SiO14), lithium niobate (LiNbO3) single crystal, lithium tantalite (LiTaO3) single crystal, gallium phosphate (GaPO4) single crystal, and lithium borate (Li2B4O7) single crystal. |
