Abstract: The end effector device includes an end effector including a palm and a plurality of fingers, a drive device, a position shift direction determination unit and a position shift correction unit. Each finger includes a tactile sensor unit capable of detecting external forces in at least three axial directions. The position shift direction determination unit determines in which direction the object being grasped is position-shifted with respect to the fitting recess based on a detection result detected by the tactile sensor unit in a case where at least one of the external forces detected by the tactile sensor unit is a specified value or more. The position shift correction unit moves the palm in a direction opposite to a position shift direction of the object being grasped determined by the position shift direction determination unit.

Abstract: An end effector includes a palm and a plurality of fingers capable of moving in a direction intersecting an extending direction of each of fingers as well as approaching each other and grasping and object being grasped. At least one of the plurality of fingers includes a proximity sensor unit provided at a tip portion in the extending direction, the proximity sensor unit being placed capable of detecting approach and separation of the proximity sensor unit with respect to an object in the extending direction and capable of detecting approach and separation of the object with respect to the proximity sensor unit in the extending direction. The proximity sensor unit includes a frame shaped detection region that covers an edge of the tip portion when viewed from the extending direction.

Abstract: In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.

Abstract: A tactile sensor has an electrostatic capacitance-type sensor portion having a layered structure in which a first electrode layer, an elastic layer, and a second electrode layer are layered. The first electrode layer has plural first electrodes, and the second electrode layer is configured by one or plural second electrodes in a single layer. Two or more of the plural first electrodes are partially-overlapping electrodes that partially overlap with the second electrode as viewed in a normal direction of a contacting surface of the sensor portion. A number of one or plural openings formed in one of the second electrodes, or a number of one or plural island portions formed by one or plural second electrodes, is less than a number of the plural first electrodes.

Abstract: A proximity sensor unit includes a proximity sensor section including a sensor electrode capable of detecting a capacitance value according to a distance to an object to be detected in a detection direction and a moving device capable of moving the sensor electrode of the proximity sensor section or the object to be detected in the detection direction.

Abstract: A deterioration determination apparatus according to one or more embodiments may include: an information obtainment unit configured to obtain information on deformation of one or more regions of a suction portion configured to hold an object by suction with negative pressure; and a deterioration determination unit configured to determine whether or not the suction portion has deteriorated, depending on the deformation of the one or more regions of the suction portion in a state in which the suction portion does not hold an object by suction.

Abstract: A deterioration determination apparatus according to one or more embodiments may include: an information obtainment unit configured to obtain information on deformation of a suction portion that is configured to hold an object by suction with negative pressure and elastically deforms by the negative pressure; and a deterioration determination unit configured to determine whether or not the suction portion has deteriorated, depending on the deformation of the suction portion occurring when the suction portion holds the object by suction.

Abstract: A tactile sensor, comprising: a cover provided so as to cover at least a portion of a base; a first force detection section configured to detect a force acting on the cover in a direction toward the base from the cover; and a second force detection section configured to detect the force acting on the cover in a case in which the cover is further displaced in the direction toward the base after the first force detection section has detected the force acting on the cover.

Abstract: A tactile sensor pertaining to the present disclosure includes a cover that is provided so as to cover at least part of a base portion, a detection unit that is disposed between the cover and the base portion and detects force applied to the cover, and a limiting structure that limits inclination of the cover with respect to the base portion.

Abstract: A tactile sensor pertaining to the present disclosure includes: a cover that is disposed so as to sandwich a base portion and covers at least part of the base portion; and a detection unit that is disposed between the base portion and the cover in a state in which it is pressed in the direction of the base portion by the cover, and detects force applied to the cover.

Abstract: A sensor assembly according to one or more embodiments may include: a main body in which a space through which a shaft of a suction apparatus passes is formed; one or more first proximity sensors that are disposed in the main body, and configured to detect the suction portion that is deformed by the negative pressure; and a fixture that has a fixed portion that is fixed to the shaft, and a support portion that supports the main body.

Abstract: A controller includes: a deformation information obtaining unit configured to obtain information on deformation of a suction portion that suctions an object with negative pressure, and that is deformed by the negative pressure; and an operation control unit configured to control movement of the suction portion in accordance with deformation of the suction portion.

Abstract: The end effector device includes an end effector including a palm and a plurality of fingers, a drive device, a position shift direction determination unit and a position shift correction unit. Each finger includes a tactile sensor unit capable of detecting external forces in at least three axial directions. The position shift direction determination unit determines in which direction the object being grasped is position-shifted with respect to the fitting recess based on a detection result detected by the tactile sensor unit in a case where at least one of the external forces detected by the tactile sensor unit is a specified value or more. The position shift correction unit moves the palm in a direction opposite to a position shift direction of the object being grasped determined by the position shift direction determination unit.

Abstract: A proximity sensor unit includes a proximity sensor section including a sensor electrode capable of detecting a capacitance value according to a distance to an object to be detected in a detection direction and a moving device capable of moving the sensor electrode of the proximity sensor section or the object to be detected in the detection direction.

Abstract: The end effector includes a palm, a plurality of fingers capable of grasping operation, a tactile sensor unit provided with each of the plurality of fingers, and a force receiving portion that receives a force from the object being grasped when the object being grasped is grasped by the plurality of fingers, the force receiving portion being connected to each of the plurality of fingers via the tactile sensor unit. The force receiving portion includes a grasping surface that receives a force from the object being grasped, the grasping surface being placed facing the object being grasped to be able to grasp the object being grasped, and a pressing surface that is placed further away from the palm than the second end portion of each of the plurality of fingers and extends in a direction intersecting the grasping surface.

Abstract: An end effector includes a palm and a plurality of fingers capable of moving in a direction intersecting an extending direction of each of fingers as well as approaching each other and grasping and object being grasped. At least one of the plurality of fingers includes a proximity sensor unit provided at a tip portion in the extending direction, the proximity sensor unit being placed capable of detecting approach and separation of the proximity sensor unit with respect to an object in the extending direction and capable of detecting approach and separation of the object with respect to the proximity sensor unit in the extending direction. The proximity sensor unit includes a frame shaped detection region that covers an edge of the tip portion when viewed from the extending direction.

Abstract: An electrode structure has a Cu electrode that provided in a surface of a substrate, a diffusion preventing film that is made of a material in which a diffusion coefficient of Sn is equal to or lower than 3×10?23 cm2/sec, the whole Cu electrode being covered with the diffusion preventing film, and a solder layer that is provided above the diffusion preventing film, the solder layer being made of Au—Sn solder.

Abstract: In an electrode portion structure in which an electrode is formed in an end portion of a through-wiring, disconnection is prevented in an electrode portion. A through-hole that vertically pierces a substrate is made in the substrate, and a through-electrode is provided in the through-hole. The through-electrode is projected in s curved-surface manner from an upper surface of the substrate. The upper surface of the substrate 12 is coated with an insulating film, and a contact hole is made in the insulating film while aligned with the through-electrode. An opening diameter of the contact hole is lower than a sectional diameter of the through-electrode, and surroundings of an upper surface of the through-electrode are coated with the contact hole. A thickness Ddiel of the insulating film is equal to or lower than a projection length Dp of the through-electrode from the upper surface of the substrate at an opening edge of the contact hole.