US 11,981,026 B2
Slip detecting device
Satoko Nagakari, Chiba (JP); Tetsuya Narita, Hokkaido (JP); Kazuhito Wakana, Tokyo (JP); Kazuo Hongo, Chiba (JP); Wataru Kokubo, Tokyo (JP); and Yoshinao Sodeyama, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 17/252,528
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Jun. 11, 2019, PCT No. PCT/JP2019/023082
§ 371(c)(1), (2) Date Dec. 15, 2020,
PCT Pub. No. WO2019/244710, PCT Pub. Date Dec. 26, 2019.
Claims priority of application No. 2018-118922 (JP), filed on Jun. 22, 2018.
Prior Publication US 2021/0260776 A1, Aug. 26, 2021
Int. Cl. B25J 19/02 (2006.01); B25J 15/08 (2006.01); G01L 5/00 (2006.01); G01L 5/22 (2006.01)
CPC B25J 19/02 (2013.01) [B25J 15/08 (2013.01); G01L 5/009 (2013.01); G01L 5/228 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A slip detecting device comprising:
a plurality of contact parts having different slipping characteristics when an object in contact with the plurality of contact parts is slipping; and
a sensor configured to detect a pressure distribution of each contact part of the plurality of contact parts,
wherein the detected pressure distribution of each respective contact part is used to calculate a pressure gradient of the respective contact part.