Patent ID: 7984658
Filing Date: 2011-07-26
Classification: B25J,G01L

Abstract:
1. A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion, the detecting device comprising: slip detecting means for calculating a pressure center position using a pressure value detected by the pressure sensor, calculating a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detecting a slip on the basis of the calculated movement value of the pressure center position, wherein the pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside, wherein the pressure value detected by the pressure sensor is a dispersed pressure value of an object gripped by fingertips of the viscoelastic body, the pressure value being detected when the object comes into contact with the viscoelastic body, and the pressure sensor detects a slip between the gripped object and the fingertips of the viscoelastic body on the basis of the detected dispersed pressure value.