JPH07190870A - Tactile sensor and its control method - Google Patents
Tactile sensor and its control methodInfo
- Publication number
- JPH07190870A JPH07190870A JP32857093A JP32857093A JPH07190870A JP H07190870 A JPH07190870 A JP H07190870A JP 32857093 A JP32857093 A JP 32857093A JP 32857093 A JP32857093 A JP 32857093A JP H07190870 A JPH07190870 A JP H07190870A
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- JP
- Japan
- Prior art keywords
- electrode
- electrodes
- electrode group
- pressure
- voltage
- 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.)
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Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
(57)【要約】
【目的】 その上に作用する力を極めて迅速に合理的に
検出することが可能な触覚センサを実現する。
【構成】 電極群１５，１７の電極１５ａ，１７ａが交
差する交差点を検出子とするセンサ部１１を有する触覚
センサにおいて；他方の電極群１７の総ての電極１７ａ
をアースに接続し、一方の電極群１５の各電極１５ａの
電圧を選択的に測定し、最も大きな圧力が作用している
検出子を含む特定の電極を選別すると共に、圧力が作用
している電極の数を認識し；該他方の電極群１７の各電
極１７ａを選択的にアースに接続し、該一方の電極群１
５の上記特定の電極の電圧を測定し、圧力が作用してい
る検出子の数を認識し；該圧力が作用している電極の数
と、該圧力が作用している検出子の数、とを乗じて、接
触面積を代表する値を算出する。
(57) [Summary] [Purpose] To realize a tactile sensor capable of extremely quickly and rationally detecting force acting thereon. In a tactile sensor having a sensor section 11 having an intersection at which the electrodes 15a and 17a of the electrode groups 15 and 17 intersect as a detector; all electrodes 17a of the other electrode group 17
Is connected to the ground, the voltage of each electrode 15a of the one electrode group 15 is selectively measured, and the specific electrode including the detector on which the largest pressure acts is selected and the pressure acts. Recognize the number of electrodes; selectively connect each electrode 17a of the other electrode group 17 to ground,
5 measures the voltage of the specific electrode and recognizes the number of detectors on which the pressure is acting; the number of electrodes on which the pressure is acting and the number of detectors on which the pressure is acting, By multiplying with, a value representative of the contact area is calculated.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、その上に作用する力を
迅速に検出可能な、感圧導電体を用いた分布型の触覚セ
ンサ及びその制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distributed type tactile sensor using a pressure-sensitive conductor capable of quickly detecting a force acting thereon and a control method thereof.
【０００２】[0002]
【従来の技術】従来、感圧導電体を挟むように、２つの
電極群を交差するように配設して、検出子（検出点）の
マトリックスを構成し、その上に作用する力を検出しよ
うとする分布型の触覚センサが提案されている（例えば
特開昭５７−８９５８８号、同６２−８０５２８号、同
６３−９４３７６号公報）。2. Description of the Related Art Conventionally, a matrix of detectors (detection points) is formed by arranging two electrode groups so as to sandwich a pressure-sensitive conductor, and the force acting on the matrix is detected. A distributed tactile sensor has been proposed (for example, JP-A-57-89588, JP-A-62-80528, and JP-A-63-94376).
【０００３】これらの触覚センサを実際に作動させる場
合、例えば、一方の電極群の各電極に所定順序で電圧を
印加すると共に、他方の電極群の各電極の電圧値を所定
順序で計測する、すなわち総ての検出子における電圧値
（抵抗値）をスキャニングする装置が一般的に用いられ
る。そして、これにより、触覚センサに作用する圧力
（分布）状態を算出することができる。When these tactile sensors are actually operated, for example, a voltage is applied to each electrode of one electrode group in a predetermined order, and a voltage value of each electrode of the other electrode group is measured in a predetermined order. That is, a device that scans the voltage values (resistance values) of all the detectors is generally used. Then, by this, the pressure (distribution) state acting on the tactile sensor can be calculated.
【０００４】[0004]
【発明が解決しようとする課題】しかるに、このような
スキャニング装置を用いた場合、検出子の総数と同じ数
だけのＡ／Ｄ変換（アナログ／デジタル変換）が理論的
に必要となる。すなわち、例えば縦１６本、横１６本の
帯状の電極でセンサ部を構成した場合、全面を検出する
ためには、１６×１６＝２５６回のＡ／Ｄ変換が必要と
なる。そして、１回のＡ／Ｄ変換に約５０μsec 必要で
あることから、全面をスキャンするためには、少なくと
も５０／１０００×２５６＝１２．８msecの時間が必要
となる。However, when such a scanning device is used, A / D conversion (analog / digital conversion) of the same number as the total number of detectors is theoretically necessary. That is, for example, when the sensor unit is composed of 16 vertical electrodes and 16 horizontal electrodes, 16 × 16 = 256 A / D conversions are required to detect the entire surface. Since about 50 μsec is required for one A / D conversion, at least 50/1000 × 256 = 12.8 msec is required to scan the entire surface.
【０００５】このようにスキャニング時間が比較的長い
ために、センサ部に対してこれ以下の瞬間的な接触が生
じた場合に、検出不能といった困った事態が発生してし
まう。そこで、本発明は、このような時間的制約の少な
い、すなわち極めて短時間の検出を可能ならしめる合理
的・経済的な触覚センサ及びその制御方法を提供するこ
とをその課題とする。Since the scanning time is comparatively long as described above, when a momentary contact below the sensor portion occurs, a troublesome situation such as undetectable occurs. Therefore, it is an object of the present invention to provide a rational and economical tactile sensor and a control method thereof which are capable of detecting in such a short time constraint, that is, in an extremely short time.
【０００６】[0006]
【課題を解決するための手段】上記課題を解決するため
に本発明に係る触覚センサは、略平行な複数個の帯状の
電極から成る電極群が、感圧導電体の両面に、相互に略
直角に交差するように設けられ、両電極群の電極が交差
する交差点を検出子とするセンサ部と、センサ部の一方
の電極群の各電極に所定電圧を印加し得る電圧印加手段
と、該一方の電極群の各電極の電圧を選択的に測定し得
る電圧測定手段と、センサ部の他方の電極群の各電極を
選択的にアースに接続し得るスイッチ手段と、該他方の
電極群の総ての電極をアースに接続し、該一方の電極群
の各電極の電圧を選択的に測定し、最も大きな圧力が作
用している検出子を含む特定の電極を選別する電極選別
手段、とを有することを構成上の特徴とする。In order to solve the above-mentioned problems, a tactile sensor according to the present invention has an electrode group composed of a plurality of strip-shaped electrodes that are substantially parallel to each other, on both sides of a pressure-sensitive conductor. A sensor unit that is provided so as to intersect at a right angle and uses a crossing point at which the electrodes of both electrode groups intersect as a detector; voltage applying means that can apply a predetermined voltage to each electrode of one electrode group of the sensor unit; A voltage measuring means capable of selectively measuring the voltage of each electrode of one electrode group, a switch means capable of selectively connecting each electrode of the other electrode group of the sensor section to the ground, and a switch means of the other electrode group. An electrode selecting means for connecting all the electrodes to the ground, selectively measuring the voltage of each electrode of the one electrode group, and selecting a specific electrode including the detector under the highest pressure; Is a structural feature.
【０００７】好ましくは、上記他方の電極群の各電極を
選択的にアースに接続し、上記一方の電極群の上記特定
の電極の電圧を測定し、最も大きな圧力が作用している
検出子を選別する検出子選別手段を更に有する。別の本
発明に係る触覚センサは、略平行な複数個の帯状の電極
から成る電極群が、感圧導電体の両面に、相互に略直角
に交差するように設けられ、両電極群の電極が交差する
交差点を検出子とするセンサ部と、センサ部の一方の電
極群の各電極に所定電圧を印加し得る電圧印加手段と、
該一方の電極群の各電極の電圧を選択的に測定し得る電
圧測定手段と、センサ部の他方の電極群の各電極を選択
的にアースに接続し得るスイッチ手段と、該他方の電極
群の総ての電極をアースに接続し、該一方の電極群の各
電極の電圧を選択的に測定し、最も大きな圧力が作用し
ている検出子を含む特定の電極を選別すると共に、圧力
が作用している電極の数を認識する電極選別／電極数認
識手段と、該他方の電極群の各電極を選択的にアースに
接続し、該一方の電極群の上記特定の電極の電圧を測定
し、圧力が作用している検出子の数を認識する検出子数
認識手段と、該圧力が作用している電極の数と、該圧力
が作用している検出子の数、とを乗じて、接触面積を代
表する値を算出する面積算出手段、とを有することを構
成上の特徴とする。Preferably, each electrode of the other electrode group is selectively connected to the ground, the voltage of the specific electrode of the one electrode group is measured, and the detector under the highest pressure is detected. It further has a detector sorting means for sorting. In another tactile sensor according to the present invention, an electrode group including a plurality of substantially parallel strip-shaped electrodes is provided on both surfaces of a pressure-sensitive conductor so as to intersect each other at substantially right angles, and electrodes of both electrode groups are provided. A sensor unit having a cross point at which the intersection intersects as a detector, and a voltage applying unit capable of applying a predetermined voltage to each electrode of one electrode group of the sensor unit,
Voltage measuring means capable of selectively measuring the voltage of each electrode of the one electrode group, switch means capable of selectively connecting each electrode of the other electrode group of the sensor section to ground, and the other electrode group All electrodes are connected to ground, the voltage of each electrode of the one electrode group is selectively measured, and the specific electrode including the detector under the highest pressure is selected and Electrode selection / electrode number recognition means for recognizing the number of working electrodes and each electrode of the other electrode group are selectively connected to the ground, and the voltage of the specific electrode of the one electrode group is measured. Then, by multiplying the number of detectors recognition means for recognizing the number of detectors on which the pressure is acting, the number of electrodes on which the pressure is acting, and the number of detectors on which the pressure is acting, And an area calculating means for calculating a value representative of the contact area.
【０００８】本発明に係る触覚センサの制御方法は、セ
ンサ部の他方の電極群の総ての電極をアースに接続し、
センサ部の一方の電極群の各電極の電圧を選択的に測定
して、最も大きな圧力が作用している検出子を含む特定
の電極を選別し、該他方の電極群の各電極を選択的にア
ースに接続し、該一方の電極群の該特定の電極の電圧を
測定して、最も大きな圧力が作用している検出子を選別
することを構成上の特徴とする。In the tactile sensor control method according to the present invention, all the electrodes of the other electrode group of the sensor unit are connected to the ground,
The voltage of each electrode of one electrode group of the sensor unit is selectively measured to select a specific electrode including the detector on which the largest pressure acts, and each electrode of the other electrode group is selectively selected. It is structurally characterized in that it is connected to the ground and the voltage of the specific electrode of the one electrode group is measured to select the detector having the highest pressure.
【０００９】別の本発明に係る触覚センサの制御方法
は、センサ部の他方の電極群の総ての電極をアースに接
続し、センサ部の一方の電極群の各電極の電圧を選択的
に測定して、最も大きな圧力が作用している検出子を含
む特定の電極を選別すると共に、圧力が作用している電
極の数を認識し、該他方の電極群の各電極を選択的にア
ースに接続し、該一方の電極群の該特定の電極の電圧を
測定して、圧力が作用している検出子の数を認識し、該
圧力が作用している電極の数と、該圧力が作用している
検出子の数、とを乗じて、接触面積相当を算出すること
を構成上の特徴とする。Another control method for a tactile sensor according to the present invention is to connect all the electrodes of the other electrode group of the sensor section to ground and selectively select the voltage of each electrode of the one electrode group of the sensor section. Measure and select a specific electrode including the detector under the highest pressure, recognize the number of electrodes under the pressure, and selectively ground each electrode of the other electrode group. Connected to each other, the voltage of the specific electrode of the one electrode group is measured, and the number of detectors under pressure is recognized, and the number of electrodes under pressure and the pressure The configurational feature is that the contact area equivalent is calculated by multiplying by the number of detectors that are operating and.
【００１０】[0010]
【作用】本発明に係る触覚センサによれば、他方の電極
群をアースに接続して、一方の電極群の電圧を選択的に
測定することにより、最も大きな圧力が作用している検
出子を含む電極が特定される。検出子選別手段により、
特定された電極の中から、最も大きな圧力が作用してい
る検出子が選別される。According to the tactile sensor of the present invention, by connecting the other electrode group to the ground and selectively measuring the voltage of the one electrode group, the detector under the maximum pressure can be detected. The containing electrode is identified. By the detector selection means,
From the specified electrodes, the detector having the highest pressure is selected.
【００１１】別の本発明に係る触覚センサによれば、他
方の電極群をアースに接続し、一方の電極群の電圧を選
択的に測定することにより、最も大きな圧力が作用して
いる検出子を含む特定の電極が選別されると共に、圧力
が作用している電極の数が認識され、該他方の電極群の
各電極を選択的にアースに接続し、該一方の電極群の上
記特定の電極の電圧を測定し、圧力が作用している検出
子の数が認識され、該圧力が作用している電極の数と、
該圧力が作用している検出子の数、とを乗じることによ
り、接触面積を代表する値が算出される。According to another tactile sensor of the present invention, by connecting the other electrode group to the ground and selectively measuring the voltage of the one electrode group, the detector under the highest pressure is applied. And the number of electrodes under pressure is recognized, each electrode of the other electrode group is selectively connected to the ground, and the specific electrode of the one electrode group is selected. The voltage of the electrodes is measured, the number of detectors under pressure is recognized, and the number of electrodes under pressure is detected,
A value representative of the contact area is calculated by multiplying by the number of detectors on which the pressure acts and.
【００１２】[0012]
【実施例】以下、本発明の実施例を図面を参照して説明
する。図１は、本発明に係る触覚センサの一実施例の全
体概略構成図、図２は、センサ部の分解斜視図である。
先ず、図２を参照してセンサ部１１について説明する
と、加えられる力（圧力）に応じて抵抗値が変化し得る
シート状の感圧導電体（例えば、感圧導電ゴム）１３の
表面及び裏面にはそれぞれ、略平行に配置される複数個
の帯状の電極１５ａ，１７ａから成る電極群１５，１７
が、相互に略直角に交差するように設けられる。各電極
１５ａ，１７ａは、その一端に外部接続用のリード線１
９，２１を有する。感圧導電体１３は、好ましくは保護
シート（例えばマイラー）２３，２５で両側から挟着さ
れる。尚、図示センサ部１１は、一方の電極群１５が、
８本の電極１５ａ、これに対して直角に交差するように
配置される他方の電極群１７が、８本の電極１７ａで構
成される。しかしながら、両電極群１５，１７は、それ
以下若しくはそれ以上の数の、及び／又は、同数若しく
は異数の電極で構成され得る。また、両電極群１５，１
７は、例えば所定フィルム（例えば、ポリエチレン・テ
レフタレート）の上にプリント形成することによって形
成され得る。Embodiments of the present invention will be described below with reference to the drawings. 1 is an overall schematic configuration diagram of an embodiment of a tactile sensor according to the present invention, and FIG. 2 is an exploded perspective view of a sensor unit.
First, the sensor section 11 will be described with reference to FIG. 2. The front surface and the back surface of a sheet-shaped pressure-sensitive conductor (for example, pressure-sensitive conductive rubber) 13 whose resistance value can change according to an applied force (pressure). And electrode groups 15 and 17 each composed of a plurality of strip-shaped electrodes 15a and 17a arranged substantially parallel to each other.
Are provided so as to intersect each other at a substantially right angle. Each electrode 15a, 17a has a lead wire 1 for external connection at one end thereof.
It has 9,21. The pressure-sensitive conductor 13 is preferably sandwiched by protective sheets (for example, Mylar) 23 and 25 from both sides. In the illustrated sensor unit 11, one electrode group 15 is
The eight electrodes 15a and the other electrode group 17 arranged so as to intersect at right angles to the eight electrodes 15a are composed of the eight electrodes 17a. However, both electrode groups 15, 17 may be composed of a smaller or larger number of electrodes and / or a same or different number of electrodes. Also, both electrode groups 15, 1
7 can be formed, for example, by printing on a predetermined film (for example, polyethylene terephthalate).
【００１３】図示センサ部１１にあっては、両電極群１
５，１７の交差点が８×８、すなわち６４個形成され、
これらの交差点はそれぞれ、検出子（検出点）として構
成される。すなわち、感圧導電体１３がそれに加えられ
る力が大きくなるほどその抵抗値が小さくなる性質を有
することから、これらの交差点は、その点における一方
の電極群１５の電極１５ａとそれに対向する他方の電極
群１７の電極１７ａとの間の抵抗値（電圧値）を検出す
ることによってセンサ部全体に対する加圧・押圧状態の
検出を可能ならしめる検出子（検出点）、として構成さ
れる。In the illustrated sensor section 11, both electrode groups 1
8 × 8, or 64 intersections of 5,17 are formed,
Each of these intersections is configured as a detector (detection point). That is, since the resistance value of the pressure-sensitive conductor 13 becomes smaller as the force applied thereto becomes larger, these intersections are formed at the intersections of the electrodes 15a of the one electrode group 15 and the other electrodes opposed thereto. It is configured as a detector (detection point) that makes it possible to detect the pressed / pressed state with respect to the entire sensor unit by detecting the resistance value (voltage value) between the electrode 17a of the group 17.
【００１４】ところで、例えば、電極の幅を１mm、電極
ピッチを２mm、各電極群の電極数を１６本として構成す
ると、約３２mm×３２mmの面積内に１６×１６、すなわ
ち２５６個の検出子が形成されるが、このようなセンサ
部に対して、従来のような順次スキャニングする方式を
採った場合、全面をスキャン（検出）するのに、検出子
の数（１６×１６＝２５６）と同数のＡ／Ｄ変換が必要
とされ、１回のＡ／Ｄ変換に要する時間が約５０μsec
であるので、２５６×５０／１０００＝１２．８msec、
という相当長い時間が必要となる。これを合理的に短縮
するために、本実施例においては、以下に記載する構成
が採用される。If, for example, the electrode width is 1 mm, the electrode pitch is 2 mm, and the number of electrodes in each electrode group is 16, 16 × 16, that is, 256 detectors are formed in an area of about 32 mm × 32 mm. However, when the conventional scanning method is adopted for such a sensor unit, the same number as the number of detectors (16 × 16 = 256) is required to scan (detect) the entire surface. A / D conversion is required, and the time required for one A / D conversion is about 50 μsec.
Therefore, 256 × 50/1000 = 12.8 msec,
That's a long time. In order to shorten this reasonably, the configuration described below is adopted in this embodiment.
【００１５】図１を参照すると、センサ部１１を制御す
る装置は、実質的にマイクロプロセッサユニット（ＭＰ
Ｕ）３１であり、このＭＰＵ３１は、ＲＯＭ（リードオ
ンリメモリ）３３、ＲＡＭ（ランダムアクセスメモリ）
３５、８つのチャネル（ＣＨ１〜ＣＨ８）を有するＡ／
Ｄ変換器３７、出力ポート（Ｐ１〜Ｐ８）３９、タイマ
ー４１、シリアルインターフェース４３等を内蔵し、シ
リアルインターフェース４３には、ＲＳ２３２Ｃドライ
バ４５を介して外部のホストマシン４７が接続される。Referring to FIG. 1, the device for controlling the sensor unit 11 is substantially a microprocessor unit (MP).
U) 31, and this MPU 31 is a ROM (read only memory) 33, a RAM (random access memory)
A / with 35, 8 channels (CH1-CH8)
A D converter 37, output ports (P1 to P8) 39, a timer 41, a serial interface 43, etc. are built in, and an external host machine 47 is connected to the serial interface 43 via an RS232C driver 45.
【００１６】センサ部１１の一方の電極群１５の各電極
１５ａは、プルアップ抵抗Ｒを経由して高電位の電源電
圧（ＶCC）に接続され、対向する他方の電極群１７の各
電極１７ａは、ＭＰＵ３１の出力ポート（Ｐ１〜Ｐ８）
３９によって制御され得るスイッチ装置（例えば、オー
プンコレクタドライバ）４９を介してアース（グラウン
ド）に接続される。Each electrode 15a of one electrode group 15 of the sensor section 11 is connected to a high-potential power supply voltage (V CC ) via a pull-up resistor R, and each electrode 17a of the other electrode group 17 facing the other. Are output ports (P1 to P8) of MPU31
It is connected to earth via a switch device (eg open collector driver) 49 which can be controlled by 39.
【００１７】以上の構成を有する本実施例装置による検
出手順について、以下説明する。先ず、ＭＰＵ３１の出
力ポート３９を制御して、オープンコレクタドライバ４
９を総てＯＮ状態にし、他方の電極群１７の各電極１７
ａを総てグラウンド電位（アース）に接続する。次い
で、Ａ／Ｄ変換器３７に接続されている一方の電極群１
５の電極１５ａの電位を、例えばチャネル１（ＣＨ１）
から順番にＡ／Ｄ変換する。このとき、検出される電圧
Ｖ１は、以下の数式１から求められる。A detection procedure performed by the apparatus of this embodiment having the above configuration will be described below. First, the output port 39 of the MPU 31 is controlled to open the open collector driver 4
9 are all turned on, and each electrode 17 of the other electrode group 17 is
All of a are connected to the ground potential (earth). Next, one electrode group 1 connected to the A / D converter 37
5, the potential of the electrode 15a of
A / D conversion is performed in order. At this time, the detected voltage V1 is obtained from the following Equation 1.
【００１８】[0018]
【数１】 [Equation 1]
【００１９】チャネル１（第１の行）におけるＳ１１〜
Ｓ１８（各検出子の抵抗値）の値は、各検出子に加えら
れた力が大きいほど、小さくなるので、上式よりこれら
の８つの検出子に加えられた力の総和を求めることがで
きる。チャネル２〜８についても同様に処理し、このよ
うにして得られた８つの総和を相互比較して、最も大き
な値の行（最大圧力値ライン）を求める。このとき、検
出子に圧力が加えられている電極数あるいはチャネル数
をＮ１とする。S11-in channel 1 (first row)
Since the value of S18 (resistance value of each detector) becomes smaller as the force applied to each detector is larger, the sum of the forces applied to these eight detectors can be obtained from the above equation. . The channels 2 to 8 are processed in the same manner, and the eight sums thus obtained are compared with each other to find the row with the largest value (maximum pressure value line). At this time, the number of electrodes or channels where pressure is applied to the detector is N1.
【００２０】次いで、出力ポート３９を制御して、今度
はオープンコレクタドライバ４９の１つのチャネルのみ
がＯＮ状態になるようにし、先に求められていた最大圧
力値ラインのチャネルのＡ／Ｄ変換を行い電圧値（抵抗
値）を測定する。例えば、ＣＨ８が最大圧力値ラインで
あったとすれば、出力ポートＰ１をＯＮ状態にすること
により、検出子Ｓ８１の抵抗値を検出することができ
る。Then, the output port 39 is controlled so that only one channel of the open collector driver 49 is turned on this time, and the A / D conversion of the channel of the maximum pressure value line which has been previously obtained is performed. Measure the voltage value (resistance value). For example, if CH8 is the maximum pressure value line, the resistance value of the detector S81 can be detected by turning on the output port P1.
【００２１】同様に、出力ポートＰ２〜Ｐ８をＯＮ状態
にして、Ａ／Ｄ変換して電圧を測定して、それらの測定
値を比較することにより、最も大きな力が加えられた検
出子（最大圧力点）を求めることができる。このとき、
圧力が加えられている検出子の数をＮ２とする。このよ
うにして得られた２つの値、すなわち先のＮ１と後のＮ
２とを乗じることにより、センサ部１１に対する接触時
における近似的な接触面積を演算・算出することが可能
となる。Similarly, the output ports P2 to P8 are turned on, A / D conversion is performed to measure the voltage, and the measured values are compared. The pressure point) can be obtained. At this time,
Let N2 be the number of detectors under pressure. The two values thus obtained, N1 before and N after
By multiplying with 2, it becomes possible to calculate and calculate an approximate contact area at the time of contact with the sensor unit 11.
【００２２】以上のように、上記処理手順により、例え
ば、２つの電極群の電極数をＮA ，ＮB 、Ａ／Ｄ変換時
間をＴadとした場合に、従来であれば、全検出子の測定
に、ＮA ×ＮB ×Ｔad、といった相当長い時間が必要に
なるが、本実施例においては、（ＮA ＋ＮB ）×Ｔad、
といった極めて短い時間で検出が可能になる。また、両
式から理解されるように、検出子の数が多いほど、本実
施例の所要時間が相当に短縮される、すなわち、その効
果が著しく、従来では検出不可能と思われていた狭い範
囲の瞬間的な接触にも余裕をもって対応（検出）するこ
とができる。As described above, according to the above processing procedure, when the number of electrodes of the two electrode groups is N A , N B and the A / D conversion time is T ad , for example, in the conventional case, all detectors are detected. It takes a considerably long time such as N A × N B × T ad , but in the present embodiment, (N A + N B ) × T ad ,
It becomes possible to detect in an extremely short time. Further, as can be understood from both equations, the larger the number of detectors, the more the time required for this embodiment is shortened, that is, the effect is remarkable, and the narrowness which was considered to be undetectable by the conventional technique. It is possible to deal (detect) with momentary contact within a range with a margin.
【００２３】[0023]
【発明の効果】以上のように本発明によれば、その上に
作用する力を極めて迅速に合理的に検出することが可能
な触覚センサを実現することができる。As described above, according to the present invention, it is possible to realize a tactile sensor capable of extremely rapidly and rationally detecting the force acting thereon.
【図１】図１は、本発明に係る触覚センサの一実施例の
全体概略構成図である。FIG. 1 is an overall schematic configuration diagram of an embodiment of a tactile sensor according to the present invention.
【図２】図２は、センサ部の分解斜視図である。FIG. 2 is an exploded perspective view of a sensor unit.
【符号の説明】 １１…センサ部 １３…感圧導電体 １５…一方の電極群 １５ａ，１７ａ…電極 １７…他方の電極群 １９，２１…リード線 ２３，２５…保護シート ３１…ＭＰＵ ３３…ＲＯＭ ３５…ＲＡＭ ３７…Ａ／Ｄ変換器 ３９…出力ポート ４１…タイマー ４３…シリアルインターフェース ４５…ＲＳ２３２Ｃドライバ ４７…外部（ホストマシン） ４９…オープンコレクタドライバ（スイッチ装置） Ｒ…プルアップ抵抗[Explanation of reference numerals] 11 ... Sensor section 13 ... Pressure-sensitive conductor 15 ... One electrode group 15a, 17a ... Electrode 17 ... Other electrode group 19, 21 ... Lead wire 23, 25 ... Protective sheet 31 ... MPU 33 ... ROM 35 ... RAM 37 ... A / D converter 39 ... Output port 41 ... Timer 43 ... Serial interface 45 ... RS232C driver 47 ... External (host machine) 49 ... Open collector driver (Switch device) R ... Pull-up resistor
Claims (5)
１７ａ）から成る電極群（１５，１７）が、感圧導電体
（１３）の両面に、相互に略直角に交差するように設け
られ、両電極群（１５，１７）の電極（１５ａ，１７
ａ）が交差する交差点を検出子とするセンサ部（１１）
と、 センサ部（１１）の一方の電極群（１５）の各電極（１
５ａ）に所定電圧を印加し得る電圧印加手段と、 該一方の電極群（１５）の各電極（１５ａ）の電圧を選
択的に測定し得る電圧測定手段と、 センサ部（１１）の他方の電極群（１７）の各電極（１
７ａ）を選択的にアースに接続し得るスイッチ手段と、 該他方の電極群（１７）の総ての電極（１７ａ）をアー
スに接続し、該一方の電極群（１５）の各電極（１５
ａ）の電圧を選択的に測定し、最も大きな圧力が作用し
ている検出子を含む特定の電極を選別する電極選別手
段、 とを有することを特徴とする触覚センサ。1. A plurality of substantially parallel strip electrodes (15a,
Electrode groups (15, 17) composed of 17a) are provided on both surfaces of the pressure-sensitive conductor (13) so as to intersect each other at substantially right angles, and the electrodes (15a, 17) of both electrode groups (15, 17) are provided.
A sensor unit (11) having a detector at an intersection where a) intersects
And each electrode (1) of one electrode group (15) of the sensor section (11)
5a) for applying a predetermined voltage, voltage measuring means for selectively measuring the voltage of each electrode (15a) of the one electrode group (15), and the other of the sensor section (11). Each electrode of the electrode group (17) (1
7a) is selectively connected to ground, and all electrodes (17a) of the other electrode group (17) are connected to ground, and each electrode (15) of the one electrode group (15) is connected.
A tactile sensor comprising: an electrode selection unit that selectively measures the voltage of a) and selects a specific electrode including a detector on which the largest pressure acts.
ースに接続し、上記一方の電極群の上記特定の電極の電
圧を測定し、最も大きな圧力が作用している検出子を選
別する検出子選別手段を更に有することを特徴とする請
求項１に記載の触覚センサ。2. The electrodes of the other electrode group are selectively connected to the ground, the voltage of the specific electrode of the one electrode group is measured, and the detector having the highest pressure is selected. The tactile sensor according to claim 1, further comprising a detector selecting unit that performs the above.
極群が、感圧導電体の両面に、相互に略直角に交差する
ように設けられ、両電極群の電極が交差する交差点を検
出子とするセンサ部と、 センサ部の一方の電極群の各電極に所定電圧を印加し得
る電圧印加手段と、 該一方の電極群の各電極の電圧を選択的に測定し得る電
圧測定手段と、 センサ部の他方の電極群の各電極を選択的にアースに接
続し得るスイッチ手段と、 該他方の電極群の総ての電極をアースに接続し、該一方
の電極群の各電極の電圧を選択的に測定し、最も大きな
圧力が作用している検出子を含む特定の電極を選別する
と共に、圧力が作用している電極の数を認識する電極選
別／電極数認識手段と、 該他方の電極群の各電極を選択的にアースに接続し、該
一方の電極群の上記特定の電極の電圧を測定し、圧力が
作用している検出子の数を認識する検出子数認識手段
と、 該圧力が作用している電極の数と、該圧力が作用してい
る検出子の数、とを乗じて、接触面積を代表する値を算
出する面積算出手段、 とを有することを特徴とする触覚センサ。3. An electrode group composed of a plurality of substantially parallel strip-shaped electrodes is provided on both surfaces of a pressure-sensitive conductor so as to intersect each other at substantially right angles, and an intersection point where the electrodes of both electrode groups intersect is formed. A sensor unit as a detector, a voltage applying unit capable of applying a predetermined voltage to each electrode of one electrode group of the sensor unit, and a voltage measuring unit capable of selectively measuring the voltage of each electrode of the one electrode group. Switch means for selectively connecting each electrode of the other electrode group of the sensor section to the ground, and connecting all electrodes of the other electrode group to the ground, and connecting each electrode of the one electrode group to the ground. An electrode selection / electrode number recognition means for selectively measuring a voltage to select a specific electrode including a detector on which the maximum pressure is applied and for recognizing the number of electrodes on which the pressure is applied; Selectively connect each electrode of the other electrode group to the ground, The detector number recognition means for recognizing the number of detectors under pressure by measuring the voltage of a specific electrode, the number of electrodes under pressure, and the detection under pressure A tactile sensor comprising: an area calculating unit that calculates a value representative of a contact area by multiplying the number of children by and.
極群が、感圧導電体の両面に、相互に略直角に交差する
ように設けられ、両電極群の電極が交差する交差点を検
出子とするセンサ部を具える触覚センサの制御方法にお
いて、 センサ部の他方の電極群の総ての電極をアースに接続
し、センサ部の一方の電極群の各電極の電圧を選択的に
測定して、最も大きな圧力が作用している検出子を含む
特定の電極を選別し、 該他方の電極群の各電極を選択的にアースに接続し、該
一方の電極群の該特定の電極の電圧を測定して、最も大
きな圧力が作用している検出子を選別することを特徴と
する触覚センサの制御方法。4. An electrode group composed of a plurality of substantially parallel strip-shaped electrodes is provided on both surfaces of a pressure-sensitive conductor so as to intersect each other at a substantially right angle, and an intersection point where the electrodes of both electrode groups intersect is formed. In a control method of a tactile sensor having a sensor unit as a detector, all electrodes of the other electrode group of the sensor unit are connected to ground, and the voltage of each electrode of one electrode group of the sensor unit is selectively The measurement is performed to select a specific electrode including the detector under the highest pressure, each electrode of the other electrode group is selectively connected to the ground, and the specific electrode of the one electrode group is selected. A method for controlling a tactile sensor, which comprises measuring the voltage of the sensor and selecting the detector on which the largest pressure is applied.
極群が、感圧導電体の両面に、相互に略直角に交差する
ように設けられ、両電極群の電極が交差する交差点を検
出子とするセンサ部を具える触覚センサの制御方法にお
いて、 センサ部の他方の電極群の総ての電極をアースに接続
し、センサ部の一方の電極群の各電極の電圧を選択的に
測定して、最も大きな圧力が作用している検出子を含む
特定の電極を選別すると共に、圧力が作用している電極
の数を認識し、 該他方の電極群の各電極を選択的にアースに接続し、該
一方の電極群の該特定の電極の電圧を測定して、圧力が
作用している検出子の数を認識し、 該圧力が作用している電極の数と、該圧力が作用してい
る検出子の数、とを乗じて、接触面積を代表する値を算
出することを特徴とする触覚センサの制御方法。5. An electrode group composed of a plurality of substantially parallel strip-shaped electrodes is provided on both surfaces of a pressure-sensitive conductor so as to intersect each other at substantially right angles, and an intersection point where the electrodes of both electrode groups intersect is formed. In a control method of a tactile sensor having a sensor unit as a detector, all electrodes of the other electrode group of the sensor unit are connected to ground, and the voltage of each electrode of one electrode group of the sensor unit is selectively Measurement is performed to select a specific electrode including the detector under the highest pressure, recognize the number of electrodes under the pressure, and selectively ground each electrode of the other electrode group. And measuring the voltage of the specific electrode of the one electrode group to recognize the number of the detectors on which the pressure acts, and the number of the electrodes on which the pressure acts and the pressure The feature is that the value representing the contact area is calculated by multiplying the number of active detectors and Control method for tactile sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32857093A JPH07190870A (en) | 1993-12-24 | 1993-12-24 | Tactile sensor and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32857093A JPH07190870A (en) | 1993-12-24 | 1993-12-24 | Tactile sensor and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07190870A true JPH07190870A (en) | 1995-07-28 |
Family
ID=18211755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32857093A Withdrawn JPH07190870A (en) | 1993-12-24 | 1993-12-24 | Tactile sensor and its control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07190870A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003034625A1 (en) * | 2001-10-12 | 2003-04-24 | Cellcross Corporation | Communication apparatus, communication device, substrate mounting method, and touch sensor |
| KR100740669B1 (en) * | 2005-08-11 | 2007-07-18 | 한국표준과학연구원 | Signal processing device for tactile sensor composed of 3 axis force sensors |
| WO2008026818A1 (en) * | 2006-08-31 | 2008-03-06 | Korea Research Institute Of Standards And Science | Tactile sensor for curved surfaces and manufacturing method thereof |
| KR100811861B1 (en) * | 2006-08-31 | 2008-03-10 | 한국표준과학연구원 | Manufacturing method of tactile sensor |
| JP2014228959A (en) * | 2013-05-20 | 2014-12-08 | 日本電信電話株式会社 | Interface, and information processor |
| WO2015111633A1 (en) | 2014-01-21 | 2015-07-30 | 合同会社Ｍｏｔｔ | Occlusion measurement device and method for detecting occlusal force |
-
1993
- 1993-12-24 JP JP32857093A patent/JPH07190870A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003034625A1 (en) * | 2001-10-12 | 2003-04-24 | Cellcross Corporation | Communication apparatus, communication device, substrate mounting method, and touch sensor |
| KR100740669B1 (en) * | 2005-08-11 | 2007-07-18 | 한국표준과학연구원 | Signal processing device for tactile sensor composed of 3 axis force sensors |
| WO2008026818A1 (en) * | 2006-08-31 | 2008-03-06 | Korea Research Institute Of Standards And Science | Tactile sensor for curved surfaces and manufacturing method thereof |
| KR100811861B1 (en) * | 2006-08-31 | 2008-03-10 | 한국표준과학연구원 | Manufacturing method of tactile sensor |
| US8049591B2 (en) | 2006-08-31 | 2011-11-01 | Korea Research Institute Of Standards And Science | Tactile sensor for curved surface and manufacturing method thereof |
| JP2014228959A (en) * | 2013-05-20 | 2014-12-08 | 日本電信電話株式会社 | Interface, and information processor |
| WO2015111633A1 (en) | 2014-01-21 | 2015-07-30 | 合同会社Ｍｏｔｔ | Occlusion measurement device and method for detecting occlusal force |
| EP3097888A4 (en) * | 2014-01-21 | 2017-11-22 | Mott LLC | Occlusion measurement device and method for detecting occlusal force |
| US10485642B2 (en) | 2014-01-21 | 2019-11-26 | Mott Llc | Occlusion measurement device and method for detecting occlusal force |
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