| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a tactile sensor mechanism for a robot hand having a sensing area increased by the small number of sensors or by a small-sized sensor, and to provide a robot having the tactile sensor mechanism for the robot hand. <P>SOLUTION: The tactile sensor mechanism 1 for a robot hand includes a body 2, a skin 13 formed of a silicon rubber adhered to the body 2, a sensor fixed section 5 which is fixed to the body 2 and housed in the skin 13, and a pressure sensitive sensor 6 provided at the sensor fixed section 5. The pressure sensitive sensor 6 includes a sensor element 7, and a base 8 fixed to the sensor fixed section 5. The skin 13 has a shape in which a thickness of its cross section is changed periodically. The skin 13 is partially brought into contact with the sensor element 7 in such a manner that a projected section 13a1 of an inner surface 13a is brought into contact with the sensor element 7. <P>COPYRIGHT: (C)2012,JPO&INPIT |
