| 摘要 |
PROBLEM TO BE SOLVED: To detect a vertical stress and shear stress with high sensitivity in tactile function of a robot. SOLUTION: A tactile sensor 1 is constituted by embedding a pressure-sensing element 2, having a pressure detecting part in a body constituted by combining a first layer elastic body 3, a second layer elastic body 4 and a third layer elastic body 5. To the first layer elastic body 3, the pressure-sensing element 2 is fixed so that the pressure detecting part of the pressure-sensing element 2 is exposed to the surface. On the first layer elastic body 3, the second layer elastic body 4 is piled upward from the vicinity of the periphery of the pressure-sensing element 2. The third layer elastic body 5 has a shape, gradually thinning from the upper part toward the pressure-sensing element 2. As a result of this shape, the stress received from outside can be introduced to a pressure detecting part of the pressure-sensing element 2. COPYRIGHT: (C)2005,JPO&NCIPI
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