Source: http://www.google.de/patents/US4709342
Timestamp: 2013-05-23 12:17:16
Document Index: 140501734

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Patent US4709342 - Tactile sensing apparatus - Google PatenteSuche Bilder Maps Play YouTube News Gmail Drive Mehr » Erweiterte Patentsuche | Webprotokoll | Anmelden Erweiterte Patentsuche PatenteTactile sensing apparatus for detecting a tactile sense with an object to-be-handled, comprising a plurality of pressure sensing devices, a processor which processes outputs of the pressure sensing devices, and a touch device which contacts with the respective pressure sensing devices in common, whereby...http://www.google.de/patents/US4709342?utm_source=gb-gplus-sharePatent US4709342 - Tactile sensing apparatus Ver�ffentlichungsnummerUS4709342 APublikationstypErteilung Anmeldenummer06/636,296 Ver�ffentlichungsdatum24. Nov. 1987Eingetragen31. Juli 1984 Priorit�tsdatum3. Aug. 1983Auch ver�ffentlicht unterCA1247717A1EP0133997A2EP0133997A3EP0133997B1 ErfinderMasakatsu FujieKazuo HonmaYuji HosodaTaro IwamotoKohji KamejimaYoshiyuki NakanoUrspr�nglich Bevollm�chtigterHitachi, Ltd.Hitachi, Ltd., 6, Kanda Surugadai 4-Chome, Chiyoda-Ku, Tokyo, Japan A Corp. Of Japan US-Klassifikation702/13873/862.42901/46700/258700/260310/338901/33Internationale KlassifikationG01D5/12G01L5/22B25J19/02G01L1/16G01L5/16G01D5/14G01L5/00G01L1/18 UnternehmensklassifikationG01L1/16G01L5/167G01L1/18G01L5/228 Europ�ische KlassifikationG01L 5/22K2G01L 1/16G01L 5/16FG01L 1/18ReferenzenPatentzitate (15)Nichtpatentzitate (13) Referenziert von (25)Externe LinksUSPTO USPTO-Zuordnung EspacenetTactile sensing apparatusUS 4709342 A Zusammenfassung Tactile sensing apparatus for detecting a tactile sense with an object to-be-handled, comprising a plurality of pressure sensing devices, a processor which processes outputs of the pressure sensing devices, and a touch device which contacts with the respective pressure sensing devices 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 which vary depending upon a direction and a magnitude of a force acting on the touch device.
FIGS. 1 and 2 show one embodiment of sensing means according to the present invention. In these figures, a detection portion is so constructed that pressure sensing devices 3 and 4 such as piezo pressure sensing devices or pressure sensing semiconductor devices are disposed on a base 2 installed on a foundation 1, so as to be arrayed in an X direction, and that a touch device 5 which has a convex part 5A on its surface not lying in contact with the pressure sensing devices 3, 4 is arranged on these pressure sensing devices 3, 4. The pressure sensing devices 3 and 4 are connected to a processor 6 arranged on the base 2, and supply the processor 6 with signals P.sub.1 and P.sub.2 proportional to pressures applied thereto.
Owing to the above construction, when a force in the vertical direction acts on the convex part 5A, a uniform pressure is applied to the pressure sensing devices 3 and 4, and the signals P.sub.1 and P.sub.2 of equal values are delivered to the processor 6. In addition, when a force in the X direction acts on the convex part 5A, a nonuniform pressure is applied to the pressure sensing devices 3 and 4, and a difference develops between the signal P.sub.1 and the signal P.sub.2.
The arrangement of the aforementioned processor 6 will be described with reference to FIG. 3. This processor 6 comprises pre-processors 8, 9, a pressure detector 10, a differential pressure detector 11 and a signal separator 12. The respective pre-processors 8 and 9 convert the signals P.sub.1 and P.sub.2 produced by the detection portion, into signals Q.sub.1 and Q.sub.2 proportional thereto. The pressure detector 10 calculates the average value of the signals Q.sub.1 and Q.sub.2, and provides it as an output signal P. The differential pressure detector 11 calculates and provides a signal D based on the difference of the signals Q.sub.1 and Q.sub.2. The signal separator 12 provides a viscosity signal S which is proportional to the magnitude of the D.C. component or low frequency component of the signal D, and also a slip signal F which is proportional to the magnitude of the A.C. component or high frequency component of the signal D.
FIG. 4 shows the example of arrangement of the pressure detector 10. This circuit 10 is composed of an adder 13, and delivers the pressure signal proportional to the sum of the signals Q.sub.1 and Q.sub.2.
FIG. 5 shows the example of arrangement of the differential pressure detector 11. This circuit 11 delivers the signal D proportional to the normalized difference of the signals Q.sub.1 and Q.sub.2 in such a way that the difference of the signals Q.sub.1 and Q.sub.2 calculated by a subtractor 14 is divided by the sum of the signals Q.sub.1 and Q.sub.2 calculated by an adder 15, by means of a divider 16. Here, this circuit 11 need not always provide the signal D which is proportional to the normalized difference of the signals Q.sub.1 and Q.sub.2, but it may well be arranged so as to provide a signal D which is directly proportional to the difference of the signals Q.sub.1 and Q.sub.2.
FIG. 13 is a plan view of another embodiment of the sensing means of the present invention. In this figure, parts assigned the same numerals as in FIG. 1 denote the same portions. In addition, FIG. 14 is a block diagram of a processor in the other embodiment of the sensing means of the present invention. In this figure, parts assigned the same numerals as in FIG. 3 denote the same portions. In FIG. 13, temperature sensors 28 and 29 are arranged on the base 2 in a manner to contact with the pressure sensing devices 3 and 4 respectively. The respective temperature sensors 28 and 29 supply a processor 30 with signals T.sub.1 and T.sub.2 which are proportional to detected temperatures. The processor 30 is provided with pre-processors 31 and 32 and a temperature detector 33. The respective pre-processors 31 and 32 compensate for the fluctuations of the signals P.sub.1 and P.sub.2 attributed to temperatures on the basis of the signals T.sub.1 and T.sub.2, and provide the signals Q.sub.1 and Q.sub.2 proportional to the pressures acting on the pressure sensing devices 3 and 4. The temperature detector 33 provides a temperature T which is proportional to the average value of the signal T.sub.1 and the signal T.sub.2.
FIG. 15 is a vertical sectional front view of still another embodiment of the sensing means of the present invention. In this figure, parts assigned the same numerals as in FIG. 2 denote similar portions. In addition, FIG. 16 is a block diagram of the processor of the embodiment. In this figure, parts assigned the same numerals as in FIG. 3 denote similar portions. In FIG. 15, a temperature sensor 34 is mounted on the convex part 5A of the touch device 5. The temperature sensor 34 supplies a processor 35 with a signal T.sub.3 which is proportional to the temperature of the object to-be-handled lying in contact with the touch device 5. This processor 35 is provided with a temperature detector 36 and pre-processors 37 and 38. The temperature detector 36 delivers the signal T which is proportional to the signal T.sub.3. The respective pre-processors 37 and 38 compensate for the fluctuations of the signals P.sub.1 and P.sub.2 attributed to temperatures on the basis of the signal T.sub.3, and provide the signals Q.sub.1 and Q.sub.2 which are proportional to the pressures acting on the pressure sensing devices 3 and 4.
FIG. 17 is a plan view of the other embodiment, in which parts assigned the same numerals as in FIG. 1 denote identical portions. In FIG. 17, the detection portion is so constructed that pressure sensing devices 39 and 41 are arranged in the X direction on the base 2, while a pressure sensing device 40 is arranged in a position which is spaced in the Y direction from the intermediate position of the positions of the pressure sensing devices 39 and 41, that the touch device 5 are arranged over the pressure sensing devices 39, 40 and 41 in contact therewith, and that a processor 42 is disposed on the base 2 centrally of the pressure sensing devices 39-41. The respective pressure sensing devices 39, 40 and 41 supply the processor 42 arranged on the base 2, with signals P.sub.1, P.sub.2 and P.sub.3 which are proportional to pressures acting thereon.
Owing to the above construction, when a force acts on the convex part 5A of the touch device 5 in the vertical direction, a uniform pressure is applied to the pressure sensing devices 39, 40 and 41, and the signals P.sub.1, P.sub.2 and P.sub.3 of equal values are provided. In addition, when a force acts on the convex part 5A in the X direction, a non-uniform pressure is applied to the pressure sensing devices 39 and 41, and a difference develops between the signal P.sub.1 and the signal P.sub.2. Besides, when a force in the Y direction acts on the convex part 5A, a pressure on the pressure sensing device 40 and the average value of pressures on the pressure sensing devices 39 and 41 become unequal, and a difference develops between the signal P.sub.2 and the average value of the signals P.sub.1 and P.sub.3.
The signals P.sub.1, P.sub.2 and P.sub.3 produced by the detection portion are respectively converted into signals Q, Q.sub.2 and Q.sub.3 proportional thereto by pre-processors 43, 44 and 45. A pressure detector 46 calculates the average value of the signals Q.sub.1, Q.sub.2 and Q.sub.3, and delivers it as the pressure signal P. A differential pressure detector 47 calculates and delivers a signal D.sub.x based on the difference of the signals Q.sub.1 and Q.sub.3 and a signal D.sub.y based on the difference of the signal Q.sub.2 and the average value of the signals Q.sub.1 and Q.sub.3. Signal separators 48 and 49 are similar in arrangement to the signal separator 12 shown in FIG. 3, and they provide a viscosity signal S.sub.x and a slip signal F.sub.x, and a viscosity signal S.sub.y and a slip signal F.sub.y on the basis of the signals D.sub.x and D.sub.y.
FIG. 19 shows the arrangement of the pressure detector 46, which is composed of an adder 50 and which delivers the pressure signal P proportional to the sum of the signals Q.sub.1 Q.sub.2 and Q.sub.3.
FIG. 20 shows the arrangement of the differential pressure detector 47. This detector delivers the signal D.sub.x proportional to the normalized difference of the signals Q.sub.1 and Q.sub.2 in such a way that the difference of the signals Q.sub.1 and Q.sub.3 calculated by a subtractor 51 is divided by the sum of the signals Q.sub.1 and Q.sub.2 calculated by an adder 53, by means of a divider 52. Besides, the sum of the signals Q.sub.1 and Q.sub.2 delivered by the adder 53 is multiplied by k (k ≧0) by means of an amplifier 54, and is then applied to a subtractor 55 and an adder 56. The difference between the signal Q.sub.2 and the output of the amplifier 54 as calculated by the subtractor 55 is divided by the sum between the signal Q.sub.2 and the output of the amplifier 54 as calculated by the adder 56, by means of a divider 57, thereby to obtain the signal D.sub.y which is proportional to the normalized difference between the signal Q.sub.2 and the average value of the signals Q.sub.1 and Q.sub.3. Here, the signals D.sub.x and D.sub.y need not always be those subjected to the normalization processing. Therefore, the differential pressure detector 47 may well be arranged so as to deliver the signal D.sub.x proportional to the difference between the signals Q.sub.1 and Q.sub.3 and to deliver the signal D.sub.y proportional to the difference between the signal Q.sub.2 and the average value of the signals Q.sub.1 and Q.sub.3.
FIG. 21 shows another example of the processor 42, in which parts assigned the same numerals as in FIG. 18 denote identical portions. In FIG. 21, a converter 58 calculates and delivers a viscosity intensity signal A.sub.s proportional to the intensity of a viscosity force and a viscosity direction signal Q.sub.s proportional to the direction of the viscosity force within the X-Y plane, on the basis of the viscosity signal S.sub.x and the viscosity signal S.sub.y. An example of arrangement of this converter 58 is shown in FIG. 22. An operation device 59 calculates and delivers the viscosity intensity signal A.sub.s which is proportional to the root-mean-square value of the viscosity signals S.sub.x and S.sub.y. Besides, a divider 60 calculates the ratio S.sub.x /S.sub.y between the viscosity signals S.sub.x and S.sub.y, whereupon an operation device 61 calculates and delivers the viscosity direction signal Q.sub.s proportional to the directional angle of the viscosity force within the X-Y plane on the basis of Equation (1):
Q.sub.s =A tan .sup.-1 (S.sub.x /S.sub.y)                  (1)
In the arrangement of the processor 42, the operation device 41 may well be constructed so as to be capable of operating all the directions within the X-Y plane on the basis of the minus sign of the viscosity signal S.sub.x and S.sub.y.
This processor 42 comprises a maximum selector 62. This circuit 62 delivers one of a larger value between the slip signals F.sub.x and F.sub.y, as the slip signal F.
According to the arrangement of this processor 42, it is possible to provide the tactile sensing means which can preferentially deliver an accurate value as the slip signal F in a case where the value of either the signal D.sub.y or the signal D.sub.x is very small or where either the slip signal F.sub.x or the slip signal F.sub.y exhibits an inaccurate value.
FIG. 24 is a plan view of still another embodiment of the sensing means of the present invention, in which parts assigned the same numerals as in FIG. 1 denote similar portions. In FIG. 24, the detection portion is so constructed that pressure sensing devices 63 and 64 are arranged on the base 2 in a manner to be arrayed in the X direction, while pressure sensing devices 65 and 66 are arranged in a manner to be arrayed in the Y direction, that the touch device 5 is arranged over the pressure sensing devices 63, 64, 65 and 66 in contact therewith, and that a processor 67 is disposed on the base 2 centrally of these pressure sensing devices 63-66. The respective pressure sensing devices 63, 64, 65 and 66 supply the processor 67 arranged on the base 2, with signals P.sub.1, P.sub.2, P.sub.3 and P.sub.4 which are proportional to pressures exerted thereon.
Owing t the above construction, when a force acts on the convex part 5A of the touch device 5 in the vertical direction, a uniform pressure is applied to the pressure sensing devices 63, 64, 65 and 66, and the signals P.sub.1, P.sub.2, P.sub.3 and P.sub.4 of equal values are delivered. Besides, when a force acts on the convex part 5A in the X direction, a non-uniform pressure is applied to the pressure sensing devices 63 and 64, so that a difference arises between the signal P.sub.1 and the signal P.sub.2. When a force acts on the convex part 5A in the Y direction, a non-uniform pressure is applied to the pressure sensing devices 65 and 66, so that a difference arises between the signals P.sub.3 and P.sub.4.
The arrangement of the aforementioned processor 67 will be described with reference to FIG. 25. The signals P.sub.1, P.sub.2, P.sub.3 and P.sub.4 produced by the detection portion are converted into signals Q.sub.1, Q.sub.2, Q.sub.3 and Q.sub.4 proportional thereto by pre-processors 68, 69, 70 and 71, respectively. Differential pressure detectors 72 and 73 are similar in arrangement to the differential detector 11 shown in FIG. 3, and they deliver a signal D.sub.x on the basis of the signals Q.sub.1 and Q.sub.2 and a signal D.sub.y on the basis of the signals Q.sub.3 and Q.sub.4, respectively. Signal separators 74 and 75 are similar in arrangement to the signal separator 12 shown in FIG. 3, and they deliver a viscosity signal S.sub.x and a slip signal F.sub.x on the basis of the signal D.sub.x and a viscosity signal S.sub.y and a slip signal F.sub.y on the basis of the signal D.sub.y, respectively. A pressure detector 76 is composed of an adder 77 as shown in FIG. 26, and it produces a pressure signal P proportional to the average value of the signals Q.sub.1, Q.sub.2, Q.sub.3 and Q.sub.4.
As stated above, according to this embodiment, the pressure sensing devices 63 and 64 are arrayed in the X direction, and those 65 and 66 are arrayed in the Y direction. Accordingly, the information items of the forces in the X and Y directions can be separated at the output stage of the pressure sensing devices. It is therefore possible to provide the tactile sensing means in which the detection precisions of the viscosity signals S.sub.x and S.sub.y and the slip signals F.sub.x and F.sub.y are higher than in the embodiment illustrated in FIGS. 17 and 18.
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