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FR2330996A1 - Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board - Google Patents

Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board

Info

Publication number
FR2330996A1
FR2330996A1 FR7534225A FR7534225A FR2330996A1 FR 2330996 A1 FR2330996 A1 FR 2330996A1 FR 7534225 A FR7534225 A FR 7534225A FR 7534225 A FR7534225 A FR 7534225A FR 2330996 A1 FR2330996 A1 FR 2330996A1
Authority
FR
France
Prior art keywords
tactile sensor
printed circuit
expanded foam
dynamic deformation
overylying
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.)
Granted
Application number
FR7534225A
Other languages
French (fr)
Other versions
FR2330996B1 (en
Inventor
Jean Clot
Jean-Pierre Richard
Jean Falipou
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bpifrance Financement SA
Original Assignee
Agence National de Valorisation de la Recherche ANVAR
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Agence National de Valorisation de la Recherche ANVAR filed Critical Agence National de Valorisation de la Recherche ANVAR
Priority to FR7534225A priority Critical patent/FR2330996A1/en
Publication of FR2330996A1 publication Critical patent/FR2330996A1/en
Application granted granted Critical
Publication of FR2330996B1 publication Critical patent/FR2330996B1/fr
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
    • G01B7/22—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in capacitance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
    • 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
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

A tactile sensor provides information regarding static or dynamic deformation. It is used where a pressure is developed and controlled by the sensor output in order to prevent sliding. A tactile sensor comprises a thin layer (1) of an expanded foam loaded with a mixture of active fine carbon powder and fine metallic powder. A double sided printed circuit (2) on a flexible dielectric support (3) is fixed to this layer and provides a matrix of measuring electrodes (4) surrounded by conducting elements (5) to which a constant excitation potential (7) is applied. Pressure exerted on the thin layer (1) disturbs the current intensity at each output electrode. These changes are electronically processed for servo control of the pressure.
FR7534225A 1975-11-05 1975-11-05 Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board Granted FR2330996A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7534225A FR2330996A1 (en) 1975-11-05 1975-11-05 Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7534225A FR2330996A1 (en) 1975-11-05 1975-11-05 Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board

Publications (2)

Publication Number Publication Date
FR2330996A1 true FR2330996A1 (en) 1977-06-03
FR2330996B1 FR2330996B1 (en) 1979-05-04

Family

ID=9162221

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7534225A Granted FR2330996A1 (en) 1975-11-05 1975-11-05 Tactile sensor for measuring static or dynamic deformation - comprises expanded foam layer loaded with carbon and metallic powders, overylying printed circuit board

Country Status (1)

Country Link
FR (1) FR2330996A1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0065419A1 (en) * 1981-05-16 1982-11-24 Crystalate Electronics Limited Strain gauge
EP0081673A2 (en) * 1981-12-12 1983-06-22 DIETER GRÄSSLIN Feinwerktechnik Input arrangement for digital electronic apparatuses
EP0118229A1 (en) * 1983-02-09 1984-09-12 Strain Measurement Devices Limited Strain gauges and their method of manufacture
DE4216458A1 (en) * 1992-05-19 1993-12-02 Wolfgang Brunner Detecting surface shape of human or animal body - pressing metal surface on elastically compressible element with displacement and distance sensors against body
EP0582731A1 (en) * 1992-08-11 1994-02-16 LEDA Logarithmic Electrical Devices for Automation S.r.l. A gripper device with tactile sensitivity particularly for a robot
FR2707108A1 (en) * 1993-07-01 1995-01-06 Essilor Int Contour reading apparatus, in particular for a spectacles frame
FR2776175A1 (en) 1998-03-19 1999-09-24 Podofrance Apparatus measuring static pressure zones of the foot to make orthotic inserts
EP1110853A2 (en) * 1999-12-24 2001-06-27 Sony Corporation Legged mobile robot and external module for the robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106197253B (en) * 2016-07-22 2018-09-11 中国科学院重庆绿色智能技术研究院 A kind of graphene detecting element for the subtle shape changing detection of apparatus casing

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0065419A1 (en) * 1981-05-16 1982-11-24 Crystalate Electronics Limited Strain gauge
EP0081673A2 (en) * 1981-12-12 1983-06-22 DIETER GRÄSSLIN Feinwerktechnik Input arrangement for digital electronic apparatuses
EP0081673A3 (en) * 1981-12-12 1986-07-23 Dieter Grasslin Feinwerktechnik Input arrangement for digital electronic apparatuses
EP0118229A1 (en) * 1983-02-09 1984-09-12 Strain Measurement Devices Limited Strain gauges and their method of manufacture
US4633212A (en) * 1983-02-09 1986-12-30 Strain Measurement Dev Ltd Electrical strain gauge
DE4216458A1 (en) * 1992-05-19 1993-12-02 Wolfgang Brunner Detecting surface shape of human or animal body - pressing metal surface on elastically compressible element with displacement and distance sensors against body
EP0582731A1 (en) * 1992-08-11 1994-02-16 LEDA Logarithmic Electrical Devices for Automation S.r.l. A gripper device with tactile sensitivity particularly for a robot
FR2707108A1 (en) * 1993-07-01 1995-01-06 Essilor Int Contour reading apparatus, in particular for a spectacles frame
FR2776175A1 (en) 1998-03-19 1999-09-24 Podofrance Apparatus measuring static pressure zones of the foot to make orthotic inserts
EP1110853A2 (en) * 1999-12-24 2001-06-27 Sony Corporation Legged mobile robot and external module for the robot
EP1110853A3 (en) * 1999-12-24 2001-10-24 Sony Corporation Legged mobile robot and external module for the robot

Also Published As

Publication number Publication date
FR2330996B1 (en) 1979-05-04

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Legal Events

Date Code Title Description
ST Notification of lapse