JPH063404B2 - Touch / pressure sensor - Google Patents
Touch / pressure sensorInfo
- Publication number
- JPH063404B2 JPH063404B2 JP22795083A JP22795083A JPH063404B2 JP H063404 B2 JPH063404 B2 JP H063404B2 JP 22795083 A JP22795083 A JP 22795083A JP 22795083 A JP22795083 A JP 22795083A JP H063404 B2 JPH063404 B2 JP H063404B2
- Authority
- JP
- Japan
- Prior art keywords
- transparent plate
- sheet
- light
- pressure sensor
- touch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 5
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 238000001579 optical reflectometry Methods 0.000 claims description 2
- 238000009827 uniform distribution Methods 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001747 exhibiting effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 239000004945 silicone rubber Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 239000003054 catalyst Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
【発明の詳細な説明】本発明は、触・圧覚センサに関
し、特に分布型触・圧覚センサ関するものである。The present invention relates to a touch / pressure sensor, and more particularly to a distributed touch / pressure sensor.
近年、人間には危険または困難な作業を、人間に替わっ
て遂行し得る種々の機能を有するロボットが開発され、
これに伴って感覚センサも各種のものが開発されてい
る。In recent years, robots having various functions capable of performing dangerous or difficult tasks for humans instead of humans have been developed.
Along with this, various sensory sensors have been developed.
触・圧覚センサは、ロボットハンドの把持面を正確に位
置決めしたり、触覚的に把持物体の形状を認識したり、
あるいは触媒面の変化から把持物体のすべりを検出した
りするのに必要不可欠であり、従来から開発努力がなさ
れているが、従来の触・圧覚センサには、機械的スイッ
チを用いるものや、導電ゴム等の抵抗変化を利用するも
の等があるが、これらは、一般に高密度配置ができない
ために分解能が低かったり、あるいは、高密度配置が可
能な場合でも、触・圧覚センサとしての前記機能を発揮
するために充分な広さの検出面を確保できないという問
題があり、これら問題点の解決が望まれている。The tactile / pressure sensor accurately positions the gripping surface of the robot hand, tactilely recognizes the shape of the gripped object,
Or, it is indispensable to detect the slip of the gripped object from the change of the catalyst surface, and development efforts have been made in the past, but the conventional tactile / pressure sensor uses a mechanical switch or a conductive sensor. Some of them utilize the resistance change of rubber etc., but they generally have a low resolution because high-density arrangement is not possible, or even if high-density arrangement is possible, the above-mentioned function as a tactile / pressure sensor can be achieved. There is a problem in that a detection surface having a sufficient area cannot be secured in order to exert the effect, and it is desired to solve these problems.
この発明は上記の如き事情に鑑みてなされたものであっ
て、分解能が高くロボットハンドへの装着を可能とする
コンパクトな構成であり、しかも機能発揮のために充分
な広さの検出面を確保できる、高密度分布型触・圧覚セ
ンサを提供することを目的としている。The present invention has been made in view of the circumstances as described above, and has a compact structure that has high resolution and can be attached to a robot hand, and yet secures a detection surface having a sufficient area for exhibiting functions. It is an object of the present invention to provide a high-density distributed touch / pressure sensor that can be used.
この目的に対応して、この発明の触・圧覚センサは、透
明板の一方の面に沿って可撓性を有する材料からなるシ
ートを配設し、前記透明板の他方の面と間隙をおいて光
電変換素子群を一様かつ高密度に配設し、かつ前記透明
板に側面から光を入射させ得る光照射装置を備え、前記
シートは外力によって前記透明板の前記一方の面に押し
つけられたときに変形可能に構成されている多数の凹凸
を前記透明板の前記一方の面に対向する表面に一様な分
布で形成されておりかつ前記表面は光反射性を有するも
のであることを特徴としている。To this end, in the touch / pressure sensor of the present invention, a sheet made of a flexible material is arranged along one surface of the transparent plate, and a gap is formed between the transparent plate and the other surface. Further, the photoelectric conversion element group is uniformly and densely arranged, and a light irradiating device capable of allowing light to enter the transparent plate from the side surface is provided, and the sheet is pressed against the one surface of the transparent plate by an external force. A large number of irregularities that are configured to be deformable when formed on the surface of the transparent plate facing the one surface in a uniform distribution, and that the surface has light reflectivity. It has a feature.
以下、この発明の詳細を、一実施例を示す図面について
説明する。Hereinafter, the details of the present invention will be described with reference to the drawings illustrating an embodiment.
第１図、第２図及び第３図において、１は触・圧覚セン
サである。触・圧覚センサ１はガラスやアクリル等でな
る直方体の透明板２を備えている。透明板２の一方の面
３には、例えば白色のシリコンゴムのような、可撓性を
有する材料からなり、かつ光をよく反射し得るシート４
が接しており、シート４の面３と接する側の面には、一
様に細かいピッチで分布する凹凸からなる凹凸面５が形
成されており、その凸部５ａの先端点において透明板２
の面３と接している。凹凸の形状としては例えば円錐形
等を用いることができる。In FIGS. 1, 2, and 3, reference numeral 1 is a tactile / pressure sensor. The touch / pressure sensor 1 is provided with a rectangular parallelepiped transparent plate 2 made of glass or acrylic. On one surface 3 of the transparent plate 2, a sheet 4 made of a flexible material such as white silicone rubber and capable of reflecting light well.
Are in contact with each other, and an uneven surface 5 composed of unevenness uniformly distributed at a fine pitch is formed on the surface of the sheet 4 in contact with the surface 3, and the transparent plate 2 is formed at the tip point of the convex portion 5a.
It is in contact with surface 3 of. As the shape of the unevenness, for example, a conical shape or the like can be used.
透明板２の面３と平行な面６に対向する位置には、面６
と接触しない距離をおいて、一様かつ高密度にフォトト
ランジスタ等の光電変換素子７の群が配設されており、
これら光電変換素子群はハウジング９に収納されてい
る。A surface 6 is provided at a position facing the surface 6 parallel to the surface 3 of the transparent plate 2.
A group of photoelectric conversion elements 7 such as phototransistors are uniformly and densely arranged at a distance that does not contact with,
These photoelectric conversion element groups are housed in the housing 9.
透明板２の１つの側端面８には多数のオプティカルガイ
ド１１の末端が１列に密に配列され、各オプティカルガ
イド１１は光源（図示せず）につながっており、透明板
の中に光を照射し得る。On one side end surface 8 of the transparent plate 2, the ends of a large number of optical guides 11 are densely arranged in a row, and each optical guide 11 is connected to a light source (not shown) so that light can be emitted into the transparent plate. Can be irradiated.
透明板２の側端面８に対向するもう一端の側端面１２を
覆って、平面鏡１３が取り付けられており、透明板２の
側端面８上の各オプティカルガイド１１の末端から照射
された光をまた側端面８に向かって反射させ得る。A plane mirror 13 is attached so as to cover the side end surface 12 at the other end facing the side end surface 8 of the transparent plate 2, and the light emitted from the end of each optical guide 11 on the side end surface 8 of the transparent plate 2 is also reflected. It can be reflected toward the side end surface 8.
光電変換素子７は、例えば３mmのピッチで縦横に並んで
いる。一方、透明板２の面６の大きさは例えば５０mm×
１００mmであり、従って、光電変換素子７は例えば全部
で１６×３０個が１６行３０列に配列されている。The photoelectric conversion elements 7 are arranged vertically and horizontally at a pitch of 3 mm, for example. On the other hand, the size of the surface 6 of the transparent plate 2 is, for example, 50 mm ×
The photoelectric conversion elements 7 are, for example, 16 × 30 in total and arranged in 16 rows and 30 columns.
各列１６個ずつの光電変換素子７は１列分ずつ、１６チ
ャンネルのマルチプレクサ１４（第４図）につながれ、
３０列に対応する３０個のマルチプレクサがそれぞれ１
つずつの異なるＡＤ変換器１５につなげられ、列毎に各
光電変換素子７からの電気出力をデジタルデータに変換
し、３０個のＡＤ変換器１５はすべてコンピュータ１６
につながっていて、各列毎のデジタルデータをコンピュ
ータ１６に送り、コンピュータ１６は各マルチプレクサ
１４につながっており、各マルチプレクサ１４に電気信
号を送って各列毎にデータを処理するように構成されて
いる。16 photoelectric conversion elements 7 in each row are connected to a 16-channel multiplexer 14 (FIG. 4) for each row.
Each of the 30 multiplexers corresponding to 30 columns is 1
Each of the 30 AD converters 15 is connected to a different AD converter 15 and converts the electric output from each photoelectric conversion element 7 into digital data for each column.
Connected to each computer, and sends digital data for each column to the computer 16. The computer 16 is connected to each multiplexer 14, and is configured to send an electric signal to each multiplexer 14 to process the data for each column. There is.
またデータの読出しは第５図のようにすれば、結線を少
なくすることができる。この回路はフォトトランジスタ
をマトリクス状に結線し、それぞれへの供給電圧をアナ
ログスイッチで切換えることにより、各列単位でフォト
トランジスタを駆動し、さらに、その出力をアナログス
イッチで選択することにより、シリアルに列中の個々の
フォトトランジスタの出力を読出すものである。例えば
図中のアナログスイッチａをＯＮにし、他をＯＦＦの状
態にすると、（１，１），（２，２）…（ｎ，１）の列
のフォトトランジスタにのみ電源が供給され、それらの
出力電流が負荷抵抗Ｒ０に流れる。一方、行セレクト信
号により、例えばアナログスイッチｂをＯＮにすると、
フォトトランジスタ（１，１）の出力が演算増幅器Ｃに
送られ、さらにＡＤ変換器へと転送される。行セレクト
信号を遂次切換えていけば、同様にして、１列目の各フ
ォトトランジスタの出力を読み出すことができる。１列
すべて読出しが終了した後、列セレクト信号を切換え
て、２列目のアナログスイッチａ＋１をＯＮにし、以下
１列目の手順をくり返せば、各フォトトランジスタ出力
を読みだすことができる。If the data is read out as shown in FIG. 5, the number of connections can be reduced. This circuit connects the phototransistors in a matrix and switches the supply voltage to each with an analog switch to drive the phototransistor on a column-by-column basis. The output of each phototransistor in the column is read out. For example, when the analog switch a in the figure is turned on and the others are turned off, power is supplied only to the phototransistors in the columns (1, 1), (2, 2) ... (n, 1), and The output current flows through the load resistance R 0 . On the other hand, if the analog switch b is turned on by the row select signal,
The output of the phototransistor (1, 1) is sent to the operational amplifier C and further transferred to the AD converter. If the row select signals are sequentially switched, the output of each phototransistor in the first column can be similarly read. After the reading of all the one column is completed, the column select signal is switched to turn on the analog switch a + 1 of the second column, and by repeating the procedure of the first column, the output of each phototransistor can be read.
このように構成された触・圧覚センサ１において、オプ
ティカルガイド１１から透明板２の中に光が照射されて
いる時に、第３図に示す如くシート４の外面からシート
４に垂直な力Ｆがかかると、シート４が弾性変形を起こ
し、シート４の凹凸面５が押し潰されて変形するが、弱
く押されている箇所では凸部５ａの先端近傍だけが透明
板２の面３に接し、強く押されている箇所では、その力
の強さに応じて凹部の一部あるいは全部が面３に接した
状態となる。In the tactile / pressure sensor 1 configured as described above, when the optical guide 11 irradiates the transparent plate 2 with light, a force F perpendicular to the sheet 4 is applied from the outer surface of the sheet 4 as shown in FIG. In this case, the sheet 4 elastically deforms, and the uneven surface 5 of the sheet 4 is crushed and deformed. However, at a weakly pressed portion, only the vicinity of the tip of the convex portion 5a contacts the surface 3 of the transparent plate 2, At a portion that is strongly pressed, some or all of the recesses are in contact with the surface 3 depending on the strength of the force.
一方、光学上、透明板の中をある臨界角以下の入射角
で、透明板の表面に向かって進行する光は、透明板の表
面が空気に接している場合には殆ど全反射してまた透明
板の中に戻るが、透明板の表面がこの実施例におけるシ
ートのような物質に接している場合には、透明板の表面
を透過し、またその物質にその光が反射された場合は、
その反射光は再び透明板の表面を透過して透明板の中に
戻るという性質を有する。On the other hand, optically, light traveling toward the surface of the transparent plate at an incident angle below a certain critical angle in the transparent plate is almost totally reflected when the surface of the transparent plate is in contact with air. Returning into the transparent plate, if the surface of the transparent plate is in contact with a substance such as the sheet in this example, the light is transmitted through the surface of the transparent plate, and the light is reflected by the substance. ,
The reflected light has the property of transmitting through the surface of the transparent plate again and returning to the inside of the transparent plate.
さて、力Ｆによってシート４が押付けられている箇所以
外では透明板２の面３は、シート４の凹凸面の凹部に入
っている空気に接しており、オプティカルガイド１１か
ら透明板２の中に照射された光は、おおむね前記臨界角
以下の入射角で透明板２の面３に向かって進行するの
で、面３において殆ど全反射してまた透明板の中に戻
り、透明板２の他方の面６に向かうが、面６は空気と接
しているので面６においても光は殆ど全反射して透明板
２の外に出ることなく進み側面１２に取付けられた平面
鏡１３で反射されて、また透明板２の中に戻される。Now, except for the position where the sheet 4 is pressed by the force F, the surface 3 of the transparent plate 2 is in contact with the air contained in the concave portion of the uneven surface of the sheet 4, and the optical guide 11 moves into the transparent plate 2. Since the irradiated light travels toward the surface 3 of the transparent plate 2 at an incident angle that is approximately equal to or less than the critical angle, it is almost totally reflected on the surface 3 and returns to the transparent plate, and the other side of the transparent plate 2 is reflected. Although it goes to the surface 6, since the surface 6 is in contact with the air, the light is almost totally reflected on the surface 6 and travels without going out of the transparent plate 2 and is reflected by the plane mirror 13 attached to the side surface 12. It is returned to the transparent plate 2.
シート４が押付けられている箇所では、透明板２の面３
に達した光は面３を透過して白いシリコンゴム等のシー
トの表面で反射して再び、面３を透過し、透明板２の中
に入る。At the position where the sheet 4 is pressed, the surface 3 of the transparent plate 2
The light that has reached (1) passes through the surface 3, is reflected by the surface of a sheet of white silicone rubber or the like, is transmitted through the surface 3 again, and enters the transparent plate 2.
この時のシートの表面における反射はシートの材質上、
乱反射となるので、反射角は入射角と必ずしも一致せ
ず、面３と垂直に近いものも出て、これら面３と垂直に
近い光は面３を透過し、垂直に近い入射角で面６に達す
るので、前記臨界角以上となり面６をも透過して、面６
に対向して一様かつ高密度に配設された光電変換素子７
の中の力Ｆで押された箇所に対向する位置にあるものに
達する。乱反射した光のうち面３となす角の小さいもの
は面６で反射し他の光と共に透明板の中に進む。Reflection on the surface of the sheet at this time is due to the material of the sheet,
Since the light is diffusely reflected, the reflection angle does not always match the incident angle, and some of the light beams are almost perpendicular to the surface 3, and the light almost perpendicular to the surface 3 passes through the surface 3 and comes to the surface 6 at the almost vertical incident angle. Since it reaches the critical angle, it becomes more than the critical angle and penetrates the surface 6 as well.
Photoelectric conversion elements 7 that are uniformly and densely arranged facing each other
Reach the one located at the position opposite to the part pressed by the force F. Of the irregularly reflected light, the light having a small angle with the surface 3 is reflected by the surface 6 and travels into the transparent plate together with other light.
シート４を押す力Ｆによって強く押されている部分ほど
シート材が面３と接する面積が大きくなり、従ってその
位置に対応する位置にある光電変換素子７に達する光量
も多く、光電変換素子７による電気出力も大きくなる。The area where the sheet material is in contact with the surface 3 is larger as the portion is strongly pressed by the force F that pushes the sheet 4, and therefore the amount of light reaching the photoelectric conversion element 7 at the position corresponding to that position is also larger. The electric output also increases.
これらの光電変換素子７からの電気出力は列毎にマルチ
プレクサ１４に入り、ＡＤ変換器１５で電気出力の大き
さに応じた大きさのデジタルデータに変換され、コンピ
ュータ１６によって処理され、力Ｆによるシート４への
圧力分布が検出される。即ち、シート４への圧力の位置
と大きさとの分布を検出することが出来、どんな形状の
ものがどの位の強さでシートを押しているかを識別する
ことができる。The electric output from these photoelectric conversion elements 7 enters the multiplexer 14 for each column, is converted into digital data of a size corresponding to the size of the electric output by the AD converter 15, is processed by the computer 16, and is processed by the force F. The pressure distribution on the seat 4 is detected. That is, it is possible to detect the distribution of the position and the magnitude of the pressure on the sheet 4, and it is possible to identify what shape and what strength is pushing the sheet.
このときの圧力分布を、コンピュータ１６からモニタテ
レビ（図示せず）に映像として送ることもできる。The pressure distribution at this time can be sent as an image from the computer 16 to a monitor television (not shown).
このように構成された触・圧覚センサ１をロボットハン
ドの手先に装着するときは、例えば第６図に示すよう
に、ロボットハンド１７の把持面にシート４を対応さ
せ、オプティカルガイド１１をロボットハンドの手首側
に対応させるようにして、ロボットハンド１７に埋め込
む。When the tactile / pressure sensor 1 configured as described above is attached to the hand of the robot hand, for example, as shown in FIG. 6, the sheet 4 is made to correspond to the grip surface of the robot hand 17, and the optical guide 11 is attached to the robot hand. It is embedded in the robot hand 17 so as to correspond to the wrist side.
他の実施例として、シート４を押す力の位置の分布だけ
を検出して、シート４に触れている物体の位置や形だけ
を知りたい場合には、ＡＤ変換器１５の代りに、コンパ
レータとすることができる。この場合、光電変換素子７
から発せられた電気出力は、マルチプレクサ１４を介し
てコンパレータ（図示せず）に入り、ある出力レベル以
上と以下とに２値化されてコンピュータ１６に入り、前
記あるレベル以上の圧力の位置の分布が検出される。As another embodiment, when it is desired to detect only the distribution of the position of the force pressing the sheet 4 and to know only the position and shape of the object touching the sheet 4, a comparator instead of the AD converter 15 is used. can do. In this case, the photoelectric conversion element 7
The electric output generated from the above enters a comparator (not shown) through a multiplexer 14, is binarized into a certain output level and below and is inputted to a computer 16, and the distribution of pressure positions above the certain level is distributed. Is detected.
［実施例］ シート４の凹凸の形状が頂角１１８°の円錐形でピッチ
が５mmである触・圧覚センサに金属製のリングを押付け
たところ、モニタテレビ上に第７図に示す明瞭なコント
ラストのついた、圧力分布のパターンを得た。[Example] When a metal ring was pressed against a tactile / pressure sensor in which the unevenness of the sheet 4 was a conical shape with an apex angle of 118 ° and the pitch was 5 mm, the clear contrast shown in FIG. A pressure distribution pattern was obtained.
以上の説明から明らかな通り、この発明によれば分解能
が高く、ロボットハンドへの装着を可能とするコンパク
トな構成で、かつ機能発揮のために充分な広さの検出面
を確保できる高密度分型触・圧覚センサを得ることがで
きる。As is clear from the above description, according to the present invention, the resolution is high, the compact structure that enables mounting on the robot hand, and the high-density component capable of ensuring a detection surface having a sufficient area for exhibiting functions. A mold touch / pressure sensor can be obtained.
第１図はこの発明の一実施例に係わる触・圧覚センサの
構成を示す斜視説明図、第２図はロボットハンドに装着
された触・圧覚センサの縦断面説明図、第３図は第２図
の触・圧覚センサに圧力が加わった状態を示す説明図、
第４図はデータ読み出し機構の構成説明図、第５図は結
線を少なくできるデータ読出し回路図例、第６図は触・
圧覚センサを装着したロボットハンドを示す斜視説明
図、及び第７は実験例でモニタテレビ上に得られた圧力
分布パターンである。 １…触・圧覚センサ ２…透明板 ４…シート
５…凹凸面 ５ａ…凸部 ７…光電変換素子 １
１…オプティカルガイド １３…平面鏡 １４…マ
ルチプレクサ １５…ＡＤ変換器 １６…コンピュ
ータ １７…ロボットハンドFIG. 1 is a perspective explanatory view showing the configuration of a touch / pressure sensor according to an embodiment of the present invention, FIG. 2 is a vertical cross-sectional view of the touch / pressure sensor mounted on a robot hand, and FIG. Explanatory diagram showing a state where pressure is applied to the tactile / pressure sensor of the figure,
FIG. 4 is an explanatory view of the structure of the data reading mechanism, FIG. 5 is an example of a data reading circuit diagram in which the number of connections can be reduced, and FIG.
7 is a perspective explanatory view showing a robot hand equipped with a pressure sensor, and FIG. 7 is a pressure distribution pattern obtained on a monitor television in an experimental example. 1 ... Touch / pressure sensor 2 ... Transparent plate 4 ... Sheet
5 ... Uneven surface 5a ... Convex portion 7 ... Photoelectric conversion element 1
1 ... Optical guide 13 ... Plane mirror 14 ... Multiplexer 15 ... AD converter 16 ... Computer 17 ... Robot hand
フロントページの続き (72)発明者 小森谷 清 茨城県新治郡桜村並木１丁目２番地 工業 技術院機械技術研究所内 (72)発明者 藤川 昭雄 茨城県新治郡桜村並木１丁目２番地 工業 技術院機械技術研究所内Front page continuation (72) Inventor Kiyoshi Komoritani, 1-2, Namiki, Sakuramura, Shinji-gun, Ibaraki, Institute of Mechanical Engineering, Institute of Industrial Technology (72) Akio Fujikawa, 1-2, Namiki, Sakuramura, Shinji-gun, Ibaraki Mechanical Engineering In the laboratory
Claims (1)
材料からなるシートを配設し、前記透明板の他方の面と
間隙をおいて光電変換素子群を一様かつ高密度に配設
し、かつ前記透明板に側面から光を入射させ得る光照射
装置を備え、前記シートは外力によって前記透明板の前
記一方の面に押しつけられたときに変形可能に構成され
ている多数の凹凸を前記透明板の前記一方の面に対向す
る表面に一様な分布で形成されておりかつ前記表面は光
反射性を有するものであることを特徴とする触・圧覚セ
ンサ1. A sheet made of a flexible material is arranged along one surface of a transparent plate, and a photoelectric conversion element group is uniformly and densely arranged with a gap from the other surface of the transparent plate. And a light irradiating device that allows light to enter the transparent plate from a side surface thereof, and the sheet is configured to be deformable when pressed against the one surface of the transparent plate by an external force. Unevenness is formed on the surface of the transparent plate facing the one surface in a uniform distribution, and the surface has light reflectivity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22795083A JPH063404B2 (en) | 1983-12-02 | 1983-12-02 | Touch / pressure sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22795083A JPH063404B2 (en) | 1983-12-02 | 1983-12-02 | Touch / pressure sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60120229A JPS60120229A (en) | 1985-06-27 |
| JPH063404B2 true JPH063404B2 (en) | 1994-01-12 |
Family
ID=16868808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22795083A Expired - Lifetime JPH063404B2 (en) | 1983-12-02 | 1983-12-02 | Touch / pressure sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH063404B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006102152A (en) * | 2004-10-05 | 2006-04-20 | National Institute Of Advanced Industrial & Technology | Tactile sensor and tactile sensor device |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2604783B1 (en) * | 1986-10-02 | 1988-12-30 | Creati 84 | DEVICE FOR ANALYZING THE SUPPORT FORCE FIELD OF A BODY ON A SUPPORT SURFACE |
| JPH01276034A (en) * | 1988-04-27 | 1989-11-06 | Sony Corp | Detector for minute pressure distribution |
| DE4243832A1 (en) * | 1992-12-23 | 1994-06-30 | Daimler Benz Ag | Push button arrangement |
| DE102008037861A1 (en) * | 2008-08-15 | 2010-03-18 | Siemens Aktiengesellschaft | Optical push button sensor |
| CN104114830B (en) | 2012-01-20 | 2017-09-08 | 洋马株式会社 | Marine engine |
| GB2605423B (en) * | 2021-03-31 | 2023-09-27 | Ocado Innovation Ltd | Tactile Sensor |
-
1983
- 1983-12-02 JP JP22795083A patent/JPH063404B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006102152A (en) * | 2004-10-05 | 2006-04-20 | National Institute Of Advanced Industrial & Technology | Tactile sensor and tactile sensor device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60120229A (en) | 1985-06-27 |
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