| 摘要 |
PURPOSE:To improve the functions of a robot hand, by providing at least two pressure sensors, which are arranged on the same supporting table with an interval being provided, elastic bodies having different compliances, and the like. CONSTITUTION:A measuring device has at least two pressure sensors 9, which are arranged on the same surface of a supporting table with an interval being provided, and elastic bodies 10, 11,... having different compliances. A computer circuit computes th compliance Co by an expression Co=(P1C1/P2C2)/(P2-P1), where P1 and P2 are the output signals of a pair of the pressure sensors, and C1 and C2 are the compliances of the elastic bodies corresponding to said sensors. The grasping force of a robot hand is controlled in this way. Thus, a body, which is liable to be deformed and cannot be grasped by a conventional hand, can be gripped, and the functions of the robot hand are improved. |
