| 摘要 |
PROBLEM TO BE SOLVED: To improve durability of a contact sensor against a force applied from the outside than before.SOLUTION: This contact detector for detecting contact of an object to a robot includes a base layer 51, a resistance layer 52 that is stacked on the base layer 51 and at least partially has a rough surface, a resistance layer 54 that is stacked on the resistance layer 52 and has a rough surface corresponding to the rough surface of the resistance layer 52, and a spacer layer 53 that is stacked on the base layer 51 and forms an inter-layer space between the resistance layers 52 and 54. The interval between the resistance layers 52 and 54 is set so that friction occurs between the rough surface of the resistance layer 52 and the rough surface of the resistance layer 54 when at least one of the resistance layers 52 and 54 deforms. By employing this constitution, the durability of the contact sensor against the force applied from the outside can be improved than before. |
