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JPS55125426A - Grasping power vector sensing element in artificial arm or the like - Google Patents

Grasping power vector sensing element in artificial arm or the like

Info

Publication number
JPS55125426A
JPS55125426A JP3351179A JP3351179A JPS55125426A JP S55125426 A JPS55125426 A JP S55125426A JP 3351179 A JP3351179 A JP 3351179A JP 3351179 A JP3351179 A JP 3351179A JP S55125426 A JPS55125426 A JP S55125426A
Authority
JP
Japan
Prior art keywords
grasping
inner ring
sensing element
vector
pivotally connected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP3351179A
Other languages
Japanese (ja)
Other versions
JPS603610B2 (en
Inventor
Tsutomu Minoura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to JP3351179A priority Critical patent/JPS603610B2/en
Publication of JPS55125426A publication Critical patent/JPS55125426A/en
Publication of JPS603610B2 publication Critical patent/JPS603610B2/en
Expired legal-status Critical Current

Links

Landscapes

  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

PURPOSE: To make it possible to control appropriately and rapidly the grasping power and grasping state of the artificial arm prior to the occurrence of a sliding phenomenon by detecting the direction and intensity of the grasping power at the grasping part in moving a body in a grasped state, that is, the vector thereof.
CONSTITUTION: In a threaded hole at the central part of the lower surface of a contact disc 1 arranged on the surface of the palm C coming into contact with a grasped body D there is fastened by screws and buried a gimbal outer ring 3 to which a gimbal inner ring 4 is pivotally connected in a swingable manner, and a base shaft 5 is pivotally connected at its forward end to the inner part of the inner ring 4 in such a manner that it is swingable in a plane intercrossing the swinging plane of the inner ring 4. A central hole 8 for fitting and assembling the base shaft 5, and cylindrical accommodating chambers 9,... are provided at equally divided positions on the circumference concentric to the hole 8. In each of accommodating chambers 9..., a keep plate 14 is placed at the uppermost part, and a pressure sensitive element P in which electrode plates 111 through 114 and pressure sensitive conductive rubber plates 121 through 123 are alternately laminated is accomodated therein. On the basis of pressure detection by each pressure sensing element P the grasping vector is detected.
COPYRIGHT: (C)1980,JPO&Japio
JP3351179A 1979-03-22 1979-03-22 Grasping force vector perception element in artificial prosthetic hands, etc. Expired JPS603610B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3351179A JPS603610B2 (en) 1979-03-22 1979-03-22 Grasping force vector perception element in artificial prosthetic hands, etc.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3351179A JPS603610B2 (en) 1979-03-22 1979-03-22 Grasping force vector perception element in artificial prosthetic hands, etc.

Publications (2)

Publication Number Publication Date
JPS55125426A true JPS55125426A (en) 1980-09-27
JPS603610B2 JPS603610B2 (en) 1985-01-29

Family

ID=12388562

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3351179A Expired JPS603610B2 (en) 1979-03-22 1979-03-22 Grasping force vector perception element in artificial prosthetic hands, etc.

Country Status (1)

Country Link
JP (1) JPS603610B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58111732A (en) * 1981-12-25 1983-07-02 Hitachi Constr Mach Co Ltd Acting force detecting device
US4488441A (en) * 1983-04-15 1984-12-18 Jr3, Inc. Apparatus for simultaneous measurement of mutually perpendicular forces and moments
US4577513A (en) * 1982-11-09 1986-03-25 Emi Limited Strain sensing arrangement
US4823618A (en) * 1986-09-17 1989-04-25 Jr3, Inc. Force-moment sensors

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58111732A (en) * 1981-12-25 1983-07-02 Hitachi Constr Mach Co Ltd Acting force detecting device
US4577513A (en) * 1982-11-09 1986-03-25 Emi Limited Strain sensing arrangement
US4488441A (en) * 1983-04-15 1984-12-18 Jr3, Inc. Apparatus for simultaneous measurement of mutually perpendicular forces and moments
US4823618A (en) * 1986-09-17 1989-04-25 Jr3, Inc. Force-moment sensors

Also Published As

Publication number Publication date
JPS603610B2 (en) 1985-01-29

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