Study of Force Sensor Using Quartz Resonators and Grasp Control and Recognizing Shape of Object by Hand with the Sensor

机器人中使用的许多力传感器使用应变片。这些力传感器很容易受到电噪声的影响，并且通常需要放大器、滤波器和模数转换器，因为它们的输出是模拟的并且是低电平的。然而，使用石英谐振器的力传感器对电噪声不敏感，因为其输出是频率。输出频率可以通过频率计数器轻松转换为数字信号。此外，频率计数器的输出可以直接连接到计算机，而无需A/D转换器。力传感器还具有快速响应、高灵敏度和高分辨率。此外，由于石英谐振器的频率通常比环境噪声的频率高得多，因此即使在与滤波器一起使用时，传感器也可以具有宽带宽。因此，它可以用于背景噪声较大和需要快速响应的场合。（1998）（1）机械强度 ...更多信息 对安装在机器人手指上的石英谐振器进行了静态力和冲击力的实验研究。结果表明，该石英谐振器可作为机器人传感器。(2)已经证实，石英谐振器的力灵敏度对于至少高达2kHz的振荡力是恒定的。(3)滑动可以通过使用石英谐振器的力传感器来检测。(4)在此基础上，在实验的基础上制作了包含三对石英谐振器的抓握力传感器。（1999）（1）制作了包含安装在机器人手指上的四对石英谐振器的抓取力传感器。(2)（3）使用石英振子的力传感器（2000）可检测滑动方向（1）使用石英振子的力传感器（2000）可检测物体的形状（2）使用石英振子的力传感器（2000）可检测物体的形状（3）使用石英振子的力传感器（2000）可检测物体的形状（1）使用石英振子的力传感器（2000）可检测物体的形状（3）使用石英振子的力传感器（2000）可检测物体的形状（1）使用石英振子的力传感器（2000）可检测物体的形状（2）可检测物体的形状（3）使用石英振子的力传感器（2000）可检测物体的形状（4）可检测物体的形状（4）可检测物体的形状（5）可检测物体的形状（6）可检测物体的形状（7）可检测物体的形状（7）可检测物体的形状（7）可检测物体的形状（8）可检测物体的形状（8）(2)该研究项目的成果在国内外进行了报道。少

Many force sensors used in robots utilize strain gauges. These force sensors are readily affected by electrical noise, and often require amplifiers, filters and A-D converters because their output is analogue and of a low level. However, a force sensor using quartz resonators is insensitive to electrical noise because its output is a frequency. The output frequency can easily be converted into a digital signal through a frequency counter. In addition, the output of the frequency counter can be directly connected to a computer without an A-D converter. The force sensor also has quick response, high sensitivity and high resolution. Furthermore, since the frequency of a quartz resonator is generally much higher than the frequency of environmental noise, the sensor can have a wide bandwidth even when use with filters. Therefore, it could be used in an environment with a noisy background and in cases requiring a quick response.The next studies were cared out.(1998)(1) Mechanical strength of … More quartz resonators mounted in a robot finger was examined experimentally to static and impulsive forces. It was confirmed that the quartz resonator could used as a robot sensor.(2) It was confirmed that force sensitivity of a quartz resonator is constant to an oscillatory force of up to 2 kHz at least.(3) Slip could be detected by the force sensor using quartz resonators.(4) On the basis of the aforementioned, a grasp force sensor incorporating three pairs of quartz resonators was made on an experimental basis.(1999)(1) The grasp force sensor incorporating four pairs of quartz resonators mounted in a robot finger was made.(2) The shape of an object could be detected by the grasp force sensor incorporating four pairs of quartz resonators(3) Slip direction could be detected by the force sensor using quartz resonators(2000)(1) The shape of an object can be detected and by the grasp force sensor with four pairs of quartz resonators.(2) Results of the research project were reported at home and abroad. Less