US 12,434,389 B2
Pressure sensor, gripping device, and robot
Takayuki Yonemura, Suwa (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Sep. 27, 2023, as Appl. No. 18/475,874.
Claims priority of application No. 2022-154643 (JP), filed on Sep. 28, 2022.
Prior Publication US 2024/0100715 A1, Mar. 28, 2024
Int. Cl. B25J 13/08 (2006.01); G01N 3/40 (2006.01)
CPC B25J 13/082 (2013.01) [G01N 3/40 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A pressure sensor comprising:
a base having a mounting surface;
an elastic member mounted on the mounting surface and forming a dome shape including a convex curved surface;
a first pressure-sensitive element placed in a position between the mounting surface and the elastic member and corresponding to a vertex of the convex curved surface and outputting a first detection signal by sensing pressure;
a second pressure-sensitive element placed in a position between the mounting surface and the elastic member and corresponding to a peripheral portion of the convex curved surface and outputting a second detection signal by sensing pressure; and
a calculator performing a calculation on the first detection signal and the second detection signal, wherein
the calculator measures hardness of an object based on a ratio R1-1/2 and a ratio R2-1/2, and the ratio R1-1/2 is a ratio between the first detection signal and the second detection signal when the object is pressed against the elastic member with a first load, and
the ratio R2-1/2 is a ratio between the first detection signal and the second detection signal when the object is pressed against the elastic member with a second load larger than the first load.