SHEAR FORCE DETECTION DEVICE, TACTILE SENSOR AND GRASPING APPARATUS
First Claim
1. A shear force detection device for detecting a shear force, comprising:
- a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other;
a support film on the support body and closing the opening, the support film having flexibility;
a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and
an elastic layer covering the piezoelectric part and the support film.
1 Assignment
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Accused Products
Abstract
A shear force detection device for detecting a shear force includes: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film.
36 Citations
10 Claims
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1. A shear force detection device for detecting a shear force, comprising:
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a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A tactile sensor comprising:
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a plurality of shear force detection devices each including; a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film; and a first direction shear force detecting part in which the straight part of the shear force detection device is provided along a first direction, and a second direction shear force detecting part in which the straight part of the shear force detection device is provided along a second direction different from the first direction. - View Dependent Claims (9)
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10. A grasping apparatus for grasping an object, comprising:
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a tactile sensor including; a plurality of shear force detection devices each including; a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film; and a first direction shear force detecting part in which the straight part of the shear force detection device is provided along a first direction, and a second direction shear force detecting part in which the straight part of the shear force detection device is provided along a second direction different from the first direction; and at least a pair of grasping arms which grasp the object and in which the tactile sensor is provided on a contact surface to contact with the object; a grasping detection unit that detects a slide state of the object based on the electric signal outputted from the tactile sensor; and a drive control unit that controls driving of the grasping arms based on the slide state.
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Specification