| 摘要 |
A contact sensor for a robot includes a plurality of electrically conductive shafts extending outward from a moving portion of the robot. Electrically conductive flexible feelers are disposed on the shafts. In one embodiment the feelers are disposed in fan-like arrangement similar to a peacock feather. Leakage current from a low voltage power source is used by a robot controller to sense contact with a conductive object. The robot controller immediately stops operation and movement of the robot before damage occurs.
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