ULTRASONIC SENSOR, TACTILE SENSOR AND GRIPPING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a tactile sensor and a gripping device capable of contact detecting a contact object with a simple configuration.

SOLUTION: A tactile sensor comprises: a substrate 11; an elastic film 15 which is disposed on the substrate 11 and is elastically deformable by the contact of a contact object; an ultrasonic reflector 16 which is disposed inside the elastic film 15 and if the elastic film 15 is elastically deformed, is moved according to the deformation; a plurality of ultrasonic elements 20 which transmit ultrasonic waves into the elastic film 15 and receive ultrasonic waves reflected by the ultrasonic reflector 16; and a control part for controlling transmission and reception of the ultrasonic waves of each ultrasonic element 20. The ultrasonic reflector 16 has element opposing surfaces 161 facing the ultrasonic elements 20 so as to correspond to each of the ultrasonic elements 20.

COPYRIGHT: (C)2012,JPO&INPIT