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    • 10. 发明授权
    • Manipulator device
    • 机械手装置
    • US09144908B2
    • 2015-09-29
    • US14114208
    • 2012-04-18
    • Makoto SaenKiyoto ItoYoshimitsu YanagawaTomomi Takahashi
    • Makoto SaenKiyoto ItoYoshimitsu YanagawaTomomi Takahashi
    • B25J15/00B25J19/00B25J15/08B25J15/02B25J13/08G01L5/22B25J9/16G01L5/00
    • B25J15/0253B25J9/1612B25J13/083B25J13/085G01L5/009G01L5/228Y10S901/32Y10S901/34Y10S901/47
    • A manipulator device has an arm portion and a hand portion The hand portion includes one or more finger portions that manipulate a target object. Each finger portion includes a slip sensor and multiple contact sensors, with at least one contact sensor at a position proximate to the slip sensor and at least another contact sensor at a position remote from the slip sensor. When the contact sensors at the positions remote from the slip sensor detect contact of the target object and the contact sensors arranged at the positions proximate to the slip sensors do not detect contact, a position of the finger portion is moved by a distance corresponding to the distance between the contact sensors detecting contact of the target object and the contact sensors arranged at the positions proximate to the slip such that a detecting position of the slip sensor is coincident with a position of the target object.
    • 操纵器装置具有臂部和手部。手部包括操纵目标物体的一个或多个手指部。 每个手指部分包括滑动传感器和多个接触传感器,其中至少一个接触传感器位于靠近滑动传感器的位置处,并且至少另一个接触传感器位于远离滑移传感器的位置。 当远离滑动传感器的位置处的接触传感器检测到目标物体的接触点和布置在靠近滑动传感器的位置处的接触传感器没有检测到接触时,手指部分的位置移动相应于 接触传感器之间的距离检测目标物体的接触点和布置在接近滑动位置的接触传感器之间的距离,使得滑动传感器的检测位置与目标物体的位置一致。