Pressure-distribution sensor for controlling multi-jointed nursing robot
US6430475B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 10, 2001 |
| Grant date | Aug 6, 2002 |
| Priority date | — |
| Expiry date | Apr 10, 2021 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61G12/00
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened. Moreover, after executing local processing, through the use of an encoder and pressure-sensitive sheet sensor provided in each of the joints, in addition to the information processing means, [this data] is sent to the CPU, whereby the central operation process…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.