| 摘要 |
PROBLEM TO BE SOLVED: To realize a simple structure capable of accurately detecting the grip status and the biaxial force of grip and insertion on the real-time basis irrespective of work dimensions, irregularities, or shapes, and to reduce the size of the structure. SOLUTION: Pressure sensing sheets 13, wherein a plurality of micro-pressure detecting means are distributed, are provided between the finger tips 11 and finger bases 12 of the fingers 10 for gripping the work for the hand 8 of a working robot for carrying, assembling, and disassembling the work. Using this design, the dimensions of the hand 8 are reduced and, since the amount and direction of an external force applied to the fingers 10 are quickly detected, the status of the gripped work, the gripping force, and the insertion force are swiftly obtained.
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