A gripper jaw to grip an object, the jaw having a gripping surface with a recess therein, the jaw including: a tactile sensor with a sensor surface and a sensor thickness integrated in the recess in a z-direction, wherein the sensor includes: a base arranged lowermost in the recess, a sensor array arranged on the base with a plurality of taxels being sensitive elements arranged over an area of the base, the taxels configured to detect externally applied forces along the z-direction, wherein each taxel is reversibly deformable, and an elastic layer arranged above and overlapping the array, the layer acting as a mechanical low-pass filter and, in an unloaded state, having a layer thickness, wherein an outwardly facing surface of the layer forms a partial area of the sensor surface, wherein the sensor integrated in the recess projects with the sensor surface beyond the gripping surface in the z-direction.

A gripper jaw to grip an object, the jaw having a gripping surface with a recess therein, the jaw including: a tactile sensor with a sensor surface and a sensor thickness integrated in the recess in a z-direction, wherein the sensor includes: a base arranged lowermost in the recess, a sensor array arranged on the base with a plurality of taxels being sensitive elements arranged over an area of the base, the taxels configured to detect externally applied forces along the z-direction, wherein each taxel is reversibly deformable, and an elastic layer arranged above and overlapping the array, the layer acting as a mechanical low-pass filter and, in an unloaded state, having a layer thickness, wherein an outwardly facing surface of the layer forms a partial area of the sensor surface, wherein the sensor integrated in the recess projects with the sensor surface beyond the gripping surface in the z-direction.

A sensor unit includes at least three kinesthetic-sense sensors arranged along a plane, each including a first force-receiving part configured to receive an external force. The sensor unit includes a connecting member including a second force-receiving part configured to receive an external force, configured to transfer the external force received by the second force-receiving part to each first force-receiving part and connecting the first force-receiving parts with each other. The sensor unit includes an output unit configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part, received by the respective first force-receiving parts through the connecting member.

A sensor unit includes at least three kinesthetic-sense sensors arranged along a plane, each including a first force-receiving part configured to receive an external force. The sensor unit includes a connecting member including a second force-receiving part configured to receive an external force, configured to transfer the external force received by the second force-receiving part to each first force-receiving part and connecting the first force-receiving parts with each other. The sensor unit includes an output unit configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part, received by the respective first force-receiving parts through the connecting member.

A sensor device with a combined sensor to detect a force applied to the sensor by an object made of a material, a position of the force, and a capacitive coupling of the sensor with the object, including: a database to provide relationships Z.sub.n of a capacitive coupling C.sub.SEN-OBJ-MATn of the sensor with an object OBJ made of a material MAT.sub.n for a number N of materials MAT.sub.n, the relationships depending on a force F.sub.ext,OBJ of the object OBJ applied to the sensor, wherein n=1, 2, . . . , N and N≥1; a detection unit to determine force F.sub.ext(t), position POS.sub.Fext (t), and capacitive coupling C.sub.SEN-OBJ(t) from sensor data of the sensor; an evaluation unit to determine a material MAT* of the object OBJ applying the force F.sub.ext(t) to the sensor based on the relationships Z.sub.n, wherein MAT* ϵ MAT.sub.n; and an output unit to output the material MAT*.

A sensor device with a combined sensor to detect a force applied to the sensor by an object made of a material, a position of the force, and a capacitive coupling of the sensor with the object, including: a database to provide relationships Z.sub.n of a capacitive coupling C.sub.SEN-OBJ-MATn of the sensor with an object OBJ made of a material MAT.sub.n for a number N of materials MAT.sub.n, the relationships depending on a force F.sub.ext,OBJ of the object OBJ applied to the sensor, wherein n=1, 2, . . . , N and N≥1; a detection unit to determine force F.sub.ext(t), position POS.sub.Fext (t), and capacitive coupling C.sub.SEN-OBJ(t) from sensor data of the sensor; an evaluation unit to determine a material MAT* of the object OBJ applying the force F.sub.ext(t) to the sensor based on the relationships Z.sub.n, wherein MAT* ϵ MAT.sub.n; and an output unit to output the material MAT*.

A force sensor includes a strain body including a base portion, a displacement portion configured to make a displacement relative to the base portion under external force, and an elastic connection portion configured to elastically connect the base portion and the displacement portion, a board including a detection unit configured to detect the displacement of the displacement portion relative to the base portion in a first direction, and an interposed member interposed between the strain body and the board, the interposed member including an extending portion extending in a second direction intersecting a surface of the board and the first direction.

A force sensing system for determining if a user input has occurred, the system comprising: an input channel, to receive an input from at least one force sensor; an activity detection stage, to monitor an activity level of the input from the at least one force sensor and, responsive to an activity level which may be indicative of a user input being reached, to generate an indication that an activity has occurred at the force sensor; and an event detection stage to receive said indication, and to determine if a user input has occurred based on the received input from the at least one force sensor.

The invention provides a three-dimensional force flexible tactile sensor and a fabrication method and a decoupling method thereof. The three-dimensional force flexible tactile sensor includes a first flexible layer, a porous elastic layer and a second flexible layer which are arranged in sequence. The first flexible layer is provided with a plurality of first electrodes. The second flexible layer is provided with a second electrode. The first electrodes and the second electrode are both clung to the porous elastic layer. The sensor not only can detect normal mechanical load, but also can measure the force tangent to the surface of the sensor, thereby realizing the detection of the three-dimensional force.

The invention provides a three-dimensional force flexible tactile sensor and a fabrication method and a decoupling method thereof. The three-dimensional force flexible tactile sensor includes a first flexible layer, a porous elastic layer and a second flexible layer which are arranged in sequence. The first flexible layer is provided with a plurality of first electrodes. The second flexible layer is provided with a second electrode. The first electrodes and the second electrode are both clung to the porous elastic layer. The sensor not only can detect normal mechanical load, but also can measure the force tangent to the surface of the sensor, thereby realizing the detection of the three-dimensional force.