| 摘要 |
PROBLEM TO BE SOLVED: To provide a detecting mechanism of an external environment, displacing a holding member with small force without causing overrange of a sensor even in the case of holding a comparatively heavy load. SOLUTION: This detecting mechanism of an external environment includes: the holding member 13 disposed in the vicinity of a tip 11a of an arm 11 to hold an external environment such as the arm of a human being or a load; a casing 14 allowing the holding member 13 to displace to the arm 11 only in the horizontal direction; a displacement detecting sensor 15 for detecting the displacement amount of the holding member 13 to the arm 11; and a force sensor 17 for detecting the external force applied from the holding member 13. COPYRIGHT: (C)2006,JPO&NCIPI
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