2-DIMENSIONAL DISTRIBUTION TYPE FORCE SENSOR

摘要

PROBLEM TO BE SOLVED: To provide a 2-dimensional distribution type force sensor capable of detecting the force in normal direction or tangential direction, and capable of easily attachable on the whole body of a robot such as the finger tip parts of the robot hand. SOLUTION: The force sensor comprises the V groove 2 formed on a base; the electrodes 3 having the gaps 3A formed on both the sides of the V groove 2; the cylindrical force sensor material 4 which is in contact with the electrodes 3 having the gaps 3A; and the insulation rubber coating sheet 5 for covering the cylindrical force sensor material 4 while holding it in the V groove 2. The normal force and the tangential force activating on the cylindrical force sensor material 4 through the insulation rubber coating 5 are detected. COPYRIGHT: (C)2005,JPO&NCIPI