Kabushiki Kaisha Toshiba

Toshiya Umeda

Kyoichi Tatsuno

Hideki Ogawa

Ryoichi Hirano

Masao Obama

Hideaki Hashimoto

Takao Furukawa

A registration system for registering a target registration object with respect to a predetermined reference position by using a registration mark formed on the target registration object includes the intensity measurement step of receiving a mark image for a predetermined period of time by a storage type sensor while an area of the target registration object which includes the mark is illuminated, the storage type sensor having elements whose positional relationship is known with respect to the mark image, the process of obtaining a center position of the mark image on the storage type sensor in a positioning direction in accordance with outputs from the elements of the storage type sensor obtained in the intensity measurement step, the distance calculation step of calculating a distance between the reference position and the center position obtained by the process, and the moving step of moving the target registration object by a distance corresponding to the distance obtained in the distance calculation step.

Registration method and apparatus therefor

A robot hand and a robot using it are provided. The robot hand has a finger-tip tactile sensor device, a palm tactile sensor device, and a tip contact force detecting device. Among them, the finger-tip tactile sensor device 10 has an elastic cap 14, in which a cavity 15 is formed with an opening 17a at a base end. The cavity is filled up with an incompressible fluid. A pressure detector 16 is inserted into the opening 17a of the cavity 17, and a holding member 18 holds the elastic cap 14 and the pressure detector 16. The holding member 18 is swingably mounted on a finger 1 of robot hand through a joint 2. When the elastic cap 14 contacts with an object, the contact pressure is detected through the incompressible fluid by the pressure detector 16.

Robot hand and robot

Optical fiber sensor having function of compensating for all drifting

Growing community of inventors

Yokohama, Japan

Toshiya Umeda