| 摘要 |
PROBLEM TO BE SOLVED: To provide a tactile sensor capable of being mounted on a curve surface similar to a spherical surface, like the fingertip of a human type robot. ! SOLUTION: Nine sets of detection elements D11-D33 are arranged so as to constitute a matrix of three rows and three columns, and row direction connection parts C1112, ..., and column direction connection part C1121, ... perform mutual connection between adjacent detection elements. Each connection part is formed into a crank shape, and can change mutual positional relationship between a pair of detection elements connected at both ends thereof with degree of freedom in a three dimension. The respective detection elements D11-D33 are provided with: a pair of electrode layers arranged so as to vertically opposite to each other; and a hemispherical elastic deformation body held by the electrode layers, and electric resistance between the vertical electrode layers changes according to added pressing force. A detection circuit 300 can independ |
