JPS6034294A - Sensor for cutaneous sensation - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a skin-sensory sensor, particularly a skin-window sensor suitable for producing a fingertip sensation of a high-performance manipulator such as an assembly robot.

[Background of the invention]

Conventionally, as a sensor for producing a fingertip sensation of a manipulator, a switch means such as a limit switch, a conductive rubber, a strain gauge, etc. is provided on the surface where the object f is gripped, and the operation of this switch means determines whether or not the object is being gripped. The main thing is to check.

Examples include JP-A-53-96648 and JP-A-55-129792. A special method using fluid pressure has also been proposed.

As described above, this type of sensor detects whether or not the object is securely gripped.

On the other hand, in recent years manipulators are required to have high functionality, and along with this, sensors for detecting fingertip sensations that correspond to human fingertips, such as pressure sensation, dead body sensation, etc., have been required.
There is a need for a sensor that can provide a complex sensation such as a feeling of slippage.

[Purpose of the invention]

The present invention has been made based on the above-mentioned problems, and an object of the present invention is to provide a skin sensation sensor capable of detecting a complex sensation of a pressure sensation, a slip sensation, and a spot sensation.

[Summary of the invention]

The present invention provides a skin sensation sensor for detecting the sensation of contact with an object, in which a detection part is composed of a piezoelectric body and a plurality of sets of electrodes provided on opposing surfaces of the piezoelectric body. A processing circuit that processes the potential difference generated in the piezoelectric body is connected to the piezoelectric body, and information regarding the pressure sensation, sliding sensation, and sensation of sensation can be simultaneously detected from the induced voltage of the piezoelectric body, which changes depending on the direction and magnitude of the force applied to the piezoelectric body. It is something to do.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show an embodiment of the sensor of the present invention. In these figures, the detection unit 1 includes a hexahedral piezoelectric body 2 and two of the three pairs of opposing faces of the piezoelectric body 2. It is composed of electrodes 3A, 3B and 4A, 4B provided on opposing surfaces. This detection section 1 is arranged on a substrate 6 provided on a support 5. Counter electrodes 3A, 3A and 4A, 4B
are connected to the board 6 by conductors 7A, 7B, 8A, and 8B, respectively.
It is connected to a processing circuit 9 arranged above. As a result, the processing circuit 20 has each electrode 3A, 3B.

Potential P1 from 4A and 4B. P! , Ps, and P4 are input.

The piezoelectric body 2 is subjected to polarization A treatment in the Z direction 1,
Therefore, when force is applied to the piezoelectric body 2 in the Z direction, the Z
A voltage is induced between the three electrodes and 3B arranged opposite to each other in the direction, and a difference is generated between the potentials Ps and P2. Also,
When a shear force ttn is applied to the piezoelectric body 2 in the Y direction,
A voltage is induced between the electrodes 4A and 4B, which are arranged to face each other in the direction, and a difference occurs between the potentials P3 and P4.

Next, the structure of the texture circuit 9 will be explained with reference to FIG.

This processing circuit 9 includes a pressure detection circuit 10 and a shear detection circuit 1.
1 and a discrimination circuit 12. Pressure detection circuit 10
is composed of a charge amplifier IOA as shown in FIG. 4, and has a potential P! It inputs the potential difference between P2 and calculates and outputs a pressure signal P proportional to the force applied to the piezoelectric body 2 in the Z direction.The shear detection circuit 11 is composed of a charge amplifier similar to that shown in FIG. Inputs the potential difference between the potentials P3 and P4, and calculates and outputs a signal proportional to the shear force applied in the Y direction of the piezoelectric body 2.The discrimination circuit 12 calculates and outputs a signal proportional to the DC component of the signal. It outputs a signal S and a slip signal F proportional to the AC component of the signal.This discrimination circuit 12 includes a low-pass filter 12A that outputs a shear signal S proportional to the DC component of the signal, and a low-pass filter 12A that extracts the AC component of the signal. It can be composed of a bypass filter 12B and a frequency-pressure converter 12C that outputs a slip signal F proportional to the frequency of the AC component.

As described above, according to the above-described embodiment of the present invention, information relating to the feeling of oppression applied perpendicularly to the body 2, that is, the pressure sensation, can be obtained from the pressure signal P. Further, information relating to the sensation that the object in contact with the piezoelectric body 2 via the electrode 3B is about to move in the horizontal direction, that is, the sensation of movement, can be obtained from the nano-shear signal S. In addition, information related to the sensation that an object in contact with the piezoelectric body 2 slides in the horizontal direction via the electric image 3B, that is, the feeling of slipping, is sent to a slip signal F based on the frequency of stick-slip vibration caused by friction between the electric grid 3B and the object. It is obtained by

Therefore, according to this embodiment, it is possible to detect a complex sensation consisting of a pressure sensation, a numb sensation, and a slippery sensation using one sensor. Furthermore, since the detection section and the signal processing/circuit are integrated on one substrate, it is possible to construct a skin sensation sensor that can be easily miniaturized for high-density packaging.

Next, FIG. 6 shows another embodiment of the sensor of the present invention.

This will be explained using FIGS. 7 and 8.

6, 7, and 8 show other embodiments of the sensor of the present invention, and in these figures, the same numbers as in FIG. 2 represent the same parts.

In the embodiment shown in FIG. 6, a protective layer 13 made of a flexible material having a high friction coefficient is formed around the detection part.

According to this embodiment, the protective layer 13 allows the detection unit 1 to collect stool from physical influences such as impact and friction caused by contact with the object. In addition, the frictional force of the thick surface of the protective layer 13 ensures the contact between the object and the detection unit 1, and improves the detection sensitivity of the feeling of death and feeling of weakness.

The embodiment shown in FIG. 7 is a modification of the embodiment shown in FIG. 6, and in this figure, parts labeled with the same numbers as in FIG. 6 represent the same parts. In this embodiment, a reinforcing layer 14 made of a heat-resistant and palm abrasion-resistant material is formed on the surface of a protective layer 130.

According to this embodiment, the protective layer 13 can be protected from high heat and palm abrasion by the reinforcing layer 14, and the life span and environmental resistance of the skin sensor can be improved.

In this embodiment, the reinforcing layer 14 may be formed by altering the surface of the protective layer 13 to improve its heat resistance and abrasion resistance.

Furthermore, in the embodiment shown in FIG. 8, a protrusion 15 is formed on the electrode 3A of the detection section 1, which faces the electrode 3B.

According to the embodiment, the bonding between the electrode 3A and the protective layer 13 is ensured, and the detection sensitivity of the feeling of cracking and slipping can be improved.

FIG. 9 shows an example of a signal transfer circuit from the processing circuit shown in FIG. 3, and in this figure, parts labeled with the same numbers as in FIG. 3 represent the same parts.

In this transfer circuit, the pressure signal P, shear signal S and slip signal F are transferred to the data bus 17 via the bus driver 16. The bus driver 16 includes, for example, a switch 16A and an AND circuit 16B, and outputs a pressure signal P1, a shear signal S, and a slip signal F when both signals A and B become true, and both signals A and B become true. If not, the output becomes high impedance.

Figure 10 shows a skin (9) having the processing circuit shown in Figure 9. This shows the rows in which the skin sensation sensor 8M is used.

The outputs of the bus driver 16 of the plurality of skin sensation sensors M arranged in a grid are connected to a common data bus 17. Furthermore, the bus driver 16 of each skin sensation sensor M receives a signal A generated by the column selection circuit 18 and the row selection circuit 19.
, B, and outputs the detection result to the data bus 29. That is, the data bus 17 is configured to display the detection results of the skin sensation sensor M in which both signals A and B are designated as true.

As described above, according to this example, a plurality of skin sensation sensors M are arranged at high density on a surface, and sensory information of two-dimensional distribution such as pressure distribution, shear force distribution, slip distribution, etc. can be obtained. .

In this embodiment, the bus driver 16 is configured to be selected by two signals A and B, but it may be configured to be selected by one signal or three or more signals. That is clear.

Next, another embodiment of the sensor of the present invention is shown in FIG. 11 (10). This will be explained using FIG.

FIG. 11 is a longitudinal sectional front view of another embodiment of the sensor according to the present invention. In this figure, parts labeled with the same numbers as in FIG. 2 represent the same parts. Further, FIG. 12 shows a configuration diagram of a processing circuit used in another embodiment of the sensor of the present invention, and in this figure, parts labeled with the same numbers as in FIG. 3 represent the same parts.

In FIG. 11, a temperature sensor 20 is placed on the electrode 3A. This temperature sensor 20 outputs a signal To proportional to the detected temperature to the processing circuit 21.

This processing circuit 21 is provided with a pressure detection circuit 22, a shear detection circuit 23, and a temperature detection circuit 24, as shown in FIG. The pressure detection circuit 22 compensates for variations in potentials P1 and P2 due to temperature based on the signal To, and outputs a pressure signal P proportional to the force applied to the piezoelectric body 2 in the Z direction. Further, the shear detection circuit 23 compensates for temperature-induced fluctuations in the potentials P3 and P4 based on the signal To, and
(11) Outputs a signal proportional to the shear force in the direction. Further, the temperature detection circuit 24 outputs a temperature signal T proportional to the signal To.

According to this embodiment, it is possible to improve the stability of the detection output of the skin sensation sensor with respect to temperature, and furthermore, it is possible to provide a skin sensation sensor that can detect information related to temperature in addition to the sensation of pressure, sensation of wheezing, and sensation of slippage. can.

Next, still another embodiment of the sensor of the present invention will be described with reference to FIGS. 13 and 14.

FIG. 13 is a plan view showing still another embodiment of the sensor of the present invention, and in this figure, parts labeled with the same numbers as in FIG. 1 represent the same parts.

In FIG. 13, the detection unit 1 includes an electrode 3A.

In addition to 3B, 4A, and 4B, electrodes 25A and 25B are arranged on surfaces of the piezoelectric body 2 facing each other in the Y direction.

In this configuration, when a shear force in the X direction is applied to the piezoelectric body 2, a potential difference is generated between the potentials P5 and P6 of the electrodes 25A and 25B, and the potentials Ps and (12) P6 are input to the processing circuit 26 and processed. be done.

The configuration of this processing circuit is shown in FIG. In this figure, parts marked with the same numbers as in FIG. 3 represent the same parts. In the configuration of FIG. 14, the shear circuits 27 and 28 are
It has the same configuration as the shearing circuit 11 shown in the figure, and the potential P3
and P4 output a signal proportional to the Y-direction shearing force applied to the piezoelectric body 15, and potentials P5 and P6 output a signal proportional to the X-direction shearing force applied to the piezoelectric body 15. Further, the discrimination circuits 29 and 30 are also similar to the discrimination circuit 12 in FIG.
It has the same configuration as above, and outputs a shear signal S8 in the Y direction and a slip signal F8 in the Y direction, and a shear signal S8 and a slip signal F8 in the X direction from the signal D8.

As described above, according to this embodiment, in addition to pressure sensation, it is possible to emit shear and slip sensation in the X direction and Y direction with a single sensor. A skin sensor can be provided that can detect information regarding the movement of the skin.

15 and 16 show other examples of the processing circuit 26 used in the sensor of the present invention (13) shown in FIG. Numbered parts represent the same thing.

In the processing circuit 26 shown in FIG.
Based on the shear signals 88 and S, this circuit calculates a shear strength signal A, which is proportional to the strength of the shear force, and a shear direction signal θ, which is proportional to the direction of the shear force in the XY plane. and output.

According to this processing circuit 26, it is possible to provide a skin sensation sensor that obtains information regarding shear sensation in the form of the intensity of shear force and the direction within the XY plane.

In the processing circuit 26 shown in FIG.
This circuit outputs the larger value of the slip signals Fyo and Fa as the slip signal F.

According to this processing circuit 26, the signal Da or the signal D8
If one of the values is very small and either the slip signal F or F indicates an inaccurate value (14), it is possible to preferentially output the accurate value as the slip signal F. A skin sensor can be provided.

In addition, in one embodiment and other embodiments described above,
It is obvious that the processing circuit may be constructed of an analog circuit, a digital circuit, a hybrid circuit of analog and digital circuits, or software using a microcomputer or the like.

[Efficacy of invention Song Dynasty]

1. As described above, according to the present invention, it is possible to simultaneously detect a pressure sensation, a spot sensation, and a slip sensation based on the relationship between the outputs of a plurality of pressure-sensitive elements, and a complex sensation can be obtained. As a result, a skin sensation sensor corresponding to a human fingertip can be provided.

[Brief explanation of drawings]

FIG. 1 is a plan view showing one embodiment of the sensor of the present invention, and FIG.
The figure is a sectional view taken along the arrow ■-■ in FIG. 1, FIG. 3 is a block diagram of a processing circuit used in the sensor shown in FIG. 1, and FIG. 4 is a block diagram of a pressure detection circuit that constitutes the processing circuit. FIG. 5 is a configuration diagram of the discrimination (15) circuit that patrols the texture circuit, FIGS. 6 to 8 are longitudinal sectional front views showing other examples of the sensor of the present invention, and FIG. 9 is similar to FIG. 3. FIG. 10 is a configuration diagram showing an example of the use of a plurality of sensors of the present invention, and FIG. 11 is a longitudinal sectional front view showing still another embodiment of the sensor of the present invention. , 12th
11 is a block diagram of a processing circuit used in the sensor shown in FIG. 11, FIG. 13 is a longitudinal sectional front view showing another embodiment of the sensor of the present invention, and FIG. 14 is a processing circuit used in the sensor shown in FIG. 13. FIG. 15 and FIG. 16 are block diagrams of other examples of the processing circuit used in the sensor shown in FIG. 13. DESCRIPTION OF SYMBOLS 1... Detection part, 2... Piezoelectric body, 3A, 3B, 4A. 4B... Electrode, 9... Processing circuit, 13... Protective layer, 14... Reinforcement layer, 20... Temperature sensor, 21.2
6...processing circuit. (16) No. 3 Old P 5F No. 4 (¥) Fig. 5 Fig. 6 Fig. q Fig. 3B 5 6 Fig. δ Fig. 9 Fig. 10 Fig. Question 11 Fig. 12 P SE Choto 13 Fig. 25B No. 14 Figure 15 P 51 θs As F> Fχ 1st Figure P 5.y, 5/” 32

Claims (1)

[Claims] 1. In a skin sensation sensor that detects the sensation of contact with an object, the detection section is composed of a piezoelectric body and a plurality of sets of electrodes provided on opposing surfaces of the piezoelectric body, A skin sensation sensor comprising: a processing circuit for processing a potential difference generated between the electrodes; 2. The skin sensation sensor according to claim 1, wherein the detection section and the processing circuit are arranged on the same substrate. 3. The skin sensation sensor according to claim 1 or 2, characterized in that a protective layer made of a flexible material is formed around the detection section. 4. The skin sensation sensor according to claim 3, wherein a reinforcing layer made of a heat-resistant and wear-resistant material is formed on the surface of the protective layer. 5. The skin sensation sensor according to any one of claims 1 to 4, characterized in that the electrode is provided with at least one protrusion. 6. The processing circuit receives information based on the potential difference between the electrodes arranged on vertically opposing surfaces of the substrate of the piezoelectric body, and information on the potential difference between the electrodes arranged on the remaining opposing surfaces of the piezoelectric body. The skin sensation sensor according to any one of claims 1 to 5, which outputs information based on a direct current component and an alternating current component. 7. The skin sensation sensor according to any one of claims 1 to 6, wherein the processing circuit is capable of switching the output terminal to a high impedance state in response to an external signal. 8. Any one of claims 1 to 6, characterized in that the processing circuit performs temperature compensation for the output of the detection section based on the output of at least one temperature sensor provided on the electrode. The skin-feeling shoe sensor described. 9. The skin It sensor according to claim 8, wherein the processing circuit forms all information based on the output of the temperature sensor.