| 摘要 |
PROBLEM TO BE SOLVED: To provide tactile sensors for a robot arm capable of being easily mounted without preventing the motion of the arm, obtaining contact information and contact force information in a wide range, and making the contact position information correspond to the physical information of the robot arm. SOLUTION: The tactile sensors 2, 4, and 5 are attached to links L2, L4, and 5 constituting the robot arm RA respectively. The tactile sensors have spacers 20, 40 and 50, and sensor sheets 21, 41 and 51 closely attached to the outer surface of the spacers 20, 40 and 50 respectively for detecting the contact or pressure. The spacers 20, 40 and 50 have inner surfaces whose shapes are suitable for the shapes of the outer surfaces of the links L2, L4 and 5, and the outer surfaces are shaped so that they can be developed to flat planes.
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