| 摘要 |
In a skin of a robot, it is configured to have a plurality of tactile sensors discretely installed on a base, a first member disposed on the tactile sensors, the first member being continuously formed, at its surface facing the tactile sensors, with projections which are tapered toward the respective tactile sensors as viewed in cross-section to be capable of pressing each of the tactile sensors, and a second member that is disposed on the first member and is made of a material being lower in rigidity than a material of the first member. With this, the skin is equipped with the second member as a soft skin surface and it becomes possible to reliably detect a point of action or distribution of a load applied through the skin surface, thereby enabling to reliably estimate a point in contact with an external object.
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