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EP0133997A2
Expired / Lapsed
EP
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Tactile sensing means
Assignee: Hitachi Ltd
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Filing: 1984-08-02
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Granted: —
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Expires: 2004-08-02
Abstract
Abstract Tactile sensing means for detecting a tactile sense with an object to-be-handled, comprising a plurality of pressure sensing devices (3, 4), a processor (6) which processes outputs of the pressure sensing devices (3, 4), and a touch device (5, 5A) which contacts with the respective pressure sensing devices (3, 4) in common, whereby information items on a pressure sense, a viscosity sense and a slip sense are simultaneously detected with the outputs of the pressure sensing devices (3, 4) which vary depending upon a direction and a magnitude of a force acting on the touch device (5,5A).
Inventors
- 👤 Yuji Hosoda
- 👤 Kazuo Honma
- 👤 Masakatsu Fujie
- 👤 Taro Iwamoto
- 👤 Kohji Kamejima
- 👤 Yoshiyuki Nakano
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-08 01:22
CPC Classifications
G; G01; G01L; G01L1/00; G01L1/16; G01L1/18; G01L5/00; G01L5/16; G01L5/167; G01L5/22; G01L5/226; G01L5/228
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
104 words
In tactile sensing means for detecting a tactile sense with an object to-be-handled; tactile sensing means characterized in that a detection portion is constructed of a base (2), a plurality of pressure sensing devices(3, 4; 39-41; 63-66) which are arranged on said base (2), and a touch device (5, 5A), which is formed with a convex part (5A) for applying a force of action to said pressure sensing devices, and that a processor is connected to said pressure,sensing devices, said processor processing outputs (P l . P 2 ; P 1 - P 4 ) of said pressure sensing devices (3, 4; 39-41; 63-66).
Claim 2
Dependent Claim
104 words
In tactile sensing means for detecting a tactile sense with an object to-be-handled; tactile sensing means characterized in that a detection portion is constructed of a base (2), a plurality of pressure sensing devices(3, 4; 39-41; 63-66) which are arranged on said base (2), and a touch device (5, 5A), which is formed with a convex part (5A) for applying a force of action to said pressure sensing devices, and that a processor is connected to said pressure,sensing devices, said processor processing outputs (P l . P 2 ; P 1 - P 4 ) of said pressure sensing devices (3, 4; 39-41; 63-66).
Claim 3
Dependent Claim
23 words
Tactile sensing means as defined in Claim 1, wherein said detection portion and said processor (6) are arranged on the identical base (2).
Claim 4
Dependent Claim
26 words
Tactile sensing means as defined in Claim 2, wherein a protective layer (20) made of a flexible material is formed around said detection portion (Fig. 7).
Claim 5
Dependent Claim
32 words
Tactile sensing means as defined in Claim 3, wherein a reinforcement layer (21) made of a heat-resisting and wear-resisting material is formed on a surface of said protective layer (20) (Fig. 8).
Claim 6
Dependent Claim
27 words
Tactile sensing means as defined in Claim 3, wherein said touch device is constructed of said protective layer (22) formed with the convex part (22A) (Fig. 9).
Claim 7
Dependent Claim
29 words
Tactile sensing means as defined in Claim 5, wherein a material (23) of high elasticity is arranged in said convex part (22A) of said protective layer (22) (Fig. 10).
Claim 8
Dependent Claim
43 words
Tactile sensing means as defined in any of Claims 1 - 6, wherein said processor (6) forms information based on a D.C. component and an A.C. component of an average value and a difference of outputs of said plurality of pressure sensing devices.
Claim 9
Dependent Claim
95 words
Tactile sensing means as defined in any of Claims 1 - 6, wherein said processor (6) is constructed so as to form information based on a D.C. component and an A.C. component of an average value of outputs of said pressure sensing devices (39-41) arranged at three points not arrayed on an identical straight line and a difference between an output of one of said pressure sensing devices and an average value of the other two outputs, and a D.C. component and an A.C. component of a difference between said other two outputs (Fig. 17).
Claim 10
Dependent Claim
101 words
Tactile sensing means as defined in any of Claims . 1 - 6, wherein said processor (6) forms information based on D.C. components and A.C. components of differences between the respective two pressure sensing devices (63, 64; 65, 66) of the two pressure sensing devices arranged on one of orthogonally intersecting straight lines and the two other pressure sensing devices arranged on the other straight line, a D.C. component and an A.C. component of the difference between the outputs of said two other pressure sensing devices, and an average value of the outputs of the four pressure sensing devices (Fig. 24).
Claim 11
Dependent Claim
32 words
Tactile sensing means as defined in any of Claims 1 - 9, wherein said processor (6) can changeover its output terminals into high impedance states in accordance with external signals (Fig. 11).
Claim 12
Dependent Claim
44 words
Tactile sensing means as defined in any of Claims 1 - 10, wherein said processor (6) performs temperature compensations of outputs of said pressure sensing devices on the basis of an output of at least one temperature sensor which is arranged on said base.
Claim 13
Dependent Claim
22 words
Tactile sensing means as defined in Claim 11, wherein said processor (6) forms information based on the output of said temperature sensor.
References Cited (Backward Citations)
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