| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect an external force applied to the finger pad at the fingertip of a robot hand by a multi-axis force sensor. SOLUTION: The finger tip portion 10 of the robot hand comprises a multi-axis force sensor 5 for detecting a force or a moment applied to a column shape force transmitting body 53, a membrane member 1 which is arranged such that its surface is nearly perpendicular to the central axis (z-axis) of the force transmitting body 53, and the surface on the side opposite to the force transmitting body 53 serves as the finger pad surface, and a plate shape z-axis force transmitting plate 3 which is located between the membrane member 1 and the force transmitting body 53 such that its surface is nearly perpendicular to the z-axis, and is nearly parallel with the surface of the membrane member 1, and can move only in the direction in parallel with the z-axis. The finger tip portion is configured such that when the external force parallel to the z-axis is applied to the finger pad surface, the force transmitting body 53 is pressed by the z-axis force transmitting plate 3 to be pressed by the membrane member 1. COPYRIGHT: (C)2008,JPO&INPIT
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