FORCE DETECTION DEVICE AND METHOD OF CALCULATING EFFECTIVE INERTIAL MASS OF SENSING PART OF FORCE SENSOR

摘要

A force detection device of the first invention comprises a force sensor for outputting a signal according to a force acting on the sensing part and an acceleration sensor secured to the force sensor to detect the acceleration produced at the sensing part when the force acts thereon. Since the force acting on the sensing part is detected on the basis of the signal output from the force sensor and the acceleration detected by the acceleration sensor, the force acting on the sensing part to move the force sensor can be accurately measured. A force detection device of the second invention comprises a force sensor for outputting a signal according to a force acting on the sensing part and an acceleration calculation part for calculating the acceleration produced at the sensing part when the force acts thereon by using the signal output from the force sensor. Since the force acting on the sensing part is detected on the basis of the signal output from the force sensor and the acceleration calculated by the acceleration calculation part, the force acting on the sensing part to move the force sensor can be accurately measured.