Abstract: An image sensor capable of obtaining a high dynamic range without reducing a frame rate. An image sensor includes a pixel region where a plurality of pixels each including a sensor element that detects a naturally occurring physical quantity and converts the physical quantity into an electric signal are arranged in a row direction and a column direction, a row selection unit that selects any of the pixels in the pixel region in units of rows and contributes to readout of the electric signal from each of the pixels and resetting of an accumulated charge, a pixel readout unit that reads out the electric signal from each of the pixels selected by the row selection unit in column-parallel, and a column selection unit that selects the pixel in any column from a pixel row selected by the row selection unit and controls a charge accumulation amount of the selected pixel.

Abstract: An image sensor that operates at high speed and high accuracy with low power consumption. A CMOS image sensor includes: a pixel unit including a plurality of pixels two-dimensionally arranged in a row direction and a column direction, each of the plurality of pixels including a sensor element configured to detect a physical amount existing in nature and to convert the physical amount into an electric signal; a resistance type digital-to-analog converter including a plurality of unit circuits connected in parallel to one another and configured to generate a ramp wave, each of the plurality of unit circuits including a resistor connected to an output end of a CMOS inverter; and an analog-to-digital conversion unit including a plurality of integral type analog-to-digital converters and configured to convert signals from the pixels into digital signals by comparing the signals from the pixels with the ramp wave.

Abstract: An image sensor capable of obtaining a high dynamic range without reducing a frame rate. An image sensor includes a pixel region where a plurality of pixels each including a sensor element that detects a naturally occurring physical quantity and converts the physical quantity into an electric signal are arranged in a row direction and a column direction, a row selection unit that selects any of the pixels in the pixel region in units of rows and contributes to readout of the electric signal from each of the pixels and resetting of an accumulated charge, a pixel readout unit that reads out the electric signal from each of the pixels selected by the row selection unit in column-parallel, and a column selection unit that selects the pixel in any column from a pixel row selected by the row selection unit and controls a charge accumulation amount of the selected pixel.

Abstract: A force detecting device includes a recess located on the outer surface of the force detecting device and an electric connector provided in the recess. An electric cable for the force detecting device attached to the electric connector is inserted into the through-hole.

Abstract: A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

Abstract: A time domain A/D converter group includes a plurality of individual A/D converters, each of the individual A/D converters is connected to a reference signal generation circuit to generate a first reference signal for sweeping in a full scale range and a second reference signal for repeating plurality of times to sweep in a limited voltage range, and each of the individual A/D converters includes a reference voltage selection circuit for switching the first reference signal or the second reference signal, a comparator for comparing an input signal with the first reference signal or the second reference signal, for generating a comparison output signal, an internal A/D converter for performing an A/D conversion using the comparison output signal from the comparator, and an accumulation adder-subtractor for outputting an average signal of A/D conversion values obtained from the A/D conversion when the second reference signal is selected.

Abstract: A time domain A/D converter group includes a plurality of individual A/D converters, each of the individual A/D converters is connected to a reference signal generation circuit to generate a first reference signal for sweeping in a full scale range and a second reference signal for repeating plurality of times to sweep in a limited voltage range, and each of the individual A/D converters includes a reference voltage selection circuit for switching the first reference signal or the second reference signal, a comparator for comparing an input signal with the first reference signal or the second reference signal, for generating a comparison output signal, an internal A/D converter for performing an A/D conversion using the comparison output signal from the comparator, and an accumulation adder-subtractor for outputting an average signal of A/D conversion values obtained from the A/D conversion when the second reference signal is selected.

Abstract: An A/D converter includes an analog input terminal, a successive approximation A/D converter connected to the analog input terminal, the successive approximation A/D converter for generating an upper conversion result at an upper conversion result terminal, the successive approximation A/D converter having an internal D/A converter generating an internal reference voltage at an internal reference voltage terminal, and a delta-sigma A/D converter connected to the analog input terminal and the internal reference voltage terminal, the delta-sigma A/D converter for generating a lower conversion result at a lower conversion result terminal.

Abstract: A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

Abstract: A force detecting device includes a recess located on the outer surface of the force detecting device and an electric connector provided in the recess. An electric cable for the force detecting device attached to the electric connector is inserted into the through-hole.

Abstract: A time domain A/D converter group includes a plurality of individual A/D converters, each of the individual A/D converters is connected to a reference signal generation circuit to generate a first reference signal for sweeping in a full scale range and a second reference signal for repeating plurality of times to sweep in a limited voltage range, and each of the individual A/D converters includes a reference voltage selection circuit for switching the first reference signal or the second reference signal, a comparator for comparing an input signal with the first reference signal or the second reference signal, for generating a comparison output signal, an internal A/D converter for performing an A/D conversion using the comparison output signal from the comparator, and an accumulation adder-subtractor for outputting an average signal of A/D conversion values obtained from the A/D conversion when the second reference signal is selected.

Abstract: A time domain A/D converter group includes a plurality of individual A/D converters, each of the individual A/D converters is connected to a reference signal generation circuit to generate a first reference signal for sweeping in a full scale range and a second reference signal for repeating plurality of times to sweep in a limited voltage range, and each of the individual A/D converters includes a reference voltage selection circuit for switching the first reference signal or the second reference signal, a comparator for comparing an input signal with the first reference signal or the second reference signal, for generating a comparison output signal, an internal A/D converter for performing an A/D conversion using the comparison output signal from the comparator, and an accumulation adder-subtractor for outputting an average signal of A/D conversion values obtained from the A/D conversion when the second reference signal is selected.

Abstract: A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

Abstract: A force sensor unit includes a force sensor, a casing housing the force sensor within a space surrounded by one end portion, another end portion, and a side portion, an attachment member having a first attachment portion that can be attached to a robot arm of a robot and a second attachment portion detachably attached to the one end portion of the casing in a position different from that of the first attachment portion, and a wiring cable connected to the force sensor and routed from inside the casing to outside of the casing, wherein a positioning portion for positioning with respect to the robot arm is provided in the first attachment portion, and a part of the wiring cable is provided along a circumferential direction of the side portion.

Abstract: A force detector includes a first base, a second base, and a sensor therebetween. The sensor includes a side wall having a terminal, a sensor plate connected to one end of the side wall, a lid connected to the other end of the side wall to configure an inner space, a charge output element in the inner space, and a conductor electrically connecting the charge output element to the terminal. The sensor plate is between the first base and the charge output element. The lid is between the second base and the charge output element. An elastic modulus of the sensor plate is lower than that of the side wall. The charge output element includes crystal. The sensor plate includes a metal selected from stainless steel, Kovar, copper, iron, carbon steel, and titanium.

Abstract: A sensor device includes a stacked body including a first piezoelectric element, a second piezoelectric element, and a macromolecule polymer film located between the first piezoelectric element and the second piezoelectric element.

Abstract: A force detection device includes a first plate having a hole, a second plate, and a structure located between the first plate and the second plate, the structure includes a sensor device provided with at least one piezoelectric element, a first wall having contact with the sensor device and fixed to the first plate, and a second wall having contact with the sensor device and fixed to the second plate, and at least a part of the hole overlaps the structure viewed from a direction in which the first plate and the second plate overlap each other.

Abstract: A force detector includes a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member.

Abstract: An A/D converter includes an analog input terminal, a successive approximation A/D converter connected to the analog input terminal, the successive approximation A/D converter for generating an upper conversion result at an upper conversion result terminal, the successive approximation A/D converter having an internal D/A converter generating an internal reference voltage at an internal reference voltage terminal, and a delta-sigma A/D converter connected to the analog input terminal and the internal reference voltage terminal, the delta-sigma A/D converter for generating a lower conversion result at a lower conversion result terminal.

Abstract: A force detector includes a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member.