| 摘要 |
PURPOSE:To detect accurately a slip between a material body and a contact shoe without a damage of the material body by accepting a pressure sensor in a substrate, providing a contact shoe made of a frexible material in the substrate, and forming the contact shoe with a swelling part projecting from a substrate surface. CONSTITUTION:When a slip is generated on a contact surface between a swelling part 5 of a contact shoe 3 made of a frexible material and a material body 17, the contact shoe 3 oscillates shearingly and disorderly and an internal pressure P fluctuates with this oscillation. This fluctuation of the internal pressure P is output as a slip signal by a pressure sensor 7 connected with the contact shoe 3 via a substrate 1. At this stage, a direct component of the pressure sensor 7 reflects a contact of the contact shoe 3 and the material body 17, and the fluctuated part reflects a slip between the contact shoe 3 and the material body 17. When the inside of the contact shoe 3 is full of a fluid 15, a shearing oscillation of the contact shoe 3 corresponds to a fluctuation component of the output. |
