US 12,455,204 B2
Tactile sensor
Misato Nabeto, Kyoto (JP); Hiroshi Kitajima, Kyoto (JP); Hiroki Koga, Kyoto (JP); and Sayaka Doi, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 18/020,882
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Jul. 15, 2021, PCT No. PCT/JP2021/026660
§ 371(c)(1), (2) Date Feb. 10, 2023,
PCT Pub. No. WO2022/038937, PCT Pub. Date Feb. 24, 2022.
Claims priority of application No. 2020-140395 (JP), filed on Aug. 21, 2020.
Prior Publication US 2023/0324242 A1, Oct. 12, 2023
Int. Cl. G01L 5/22 (2006.01); G01L 1/14 (2006.01); G01L 5/165 (2020.01)
CPC G01L 5/228 (2013.01) [G01L 1/146 (2013.01); G01L 5/165 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A tactile sensor, comprising an electrostatic capacitance-type sensor portion having a contacting surface that contacts an object, and having a layered structure in which an elastic layer, and a first electrode layer and a second electrode layer positioned at respective sides of the elastic layer with the elastic layer sandwiched therebetween, are layered in a normal direction of the contacting surface, wherein:
the first electrode layer has a plurality of first electrodes,
the second electrode layer is configured by one second electrode in a single layer in which a plurality of openings are formed,
two or more of the plurality of first electrodes are partially-overlapping electrodes that partially overlap with the second electrode as viewed in the normal direction,
a number of the plurality of openings is less than a number of the plurality of first electrodes, and
each of the plurality of the openings partially overlaps respective adjacent first electrodes among the plurality of first electrodes as viewed in the normal direction.