A force detecting device includes a first member configuring a part of a driving device that performs at least one of generation and transmission of a driving force, a second member, and a piezoelectric element disposed between the first member and the second member and configured to output a signal according to an external force.

The present invention describes a method for manufacturing a robotic gripper using multi-material 3D printing technology. The method involves creating a hard skeletal structure and soft interconnections, inserting conductive traces within these structures, threading cables through pre-designed channels, connecting these cables to the skeletal structure, forming a soft outer shell with specific indentations for sensor electronics, installing sensors and signal conditioning chips, and coating the entire assembly in a protective resin layer. The resulting robotic gripper closely replicates the mechanical properties of a human hand, demonstrating high precision and cost-effectiveness.

A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.

In an embodiment a device includes a piezoelectric transducer element and a support connected mechanically to each other thereby forming an assembly, wherein the piezoelectric transducer element and the support are configured to be jointly deformed under an action of a first force, wherein the support includes a neutral fiber arranged inside the support, the neutral fiber configured to not undergo any change in length during a bending of the assembly, and wherein the piezoelectric transducer element includes a ferroelectric polymer layer or a layer having a composite material including a ceramic material and a piezoelectric polymer matrix.

A package having a recessed section, a sensor element arranged in the recessed section and having a piezoelectric material, a lid joined to the package and sealing the recessed section of the package are provided. The package has a first hollow portion which a part of the sensor element fits with, on an inner bottom surface of the recessed section. The lid has a second hollow portion which a part of the sensor element fits with.

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.

A package having a recessed section, a sensor element arranged in the recessed section and having a piezoelectric material, a lid joined to the package and sealing the recessed section of the package are provided. The package has a first hollow portion which a part of the sensor element fits with, on an inner bottom surface of the recessed section. The lid has a second hollow portion which a part of the sensor element fits with.

A non-destructive method to detect the onset of diseases in organic cells and predict shelf life and maturity of commodities including fruits, vegetables, seeds, meat, fish, freezer dried products, beverages and pharmaceutical drugs is presented here. The system includes a bone conduction speaker, piezoelectric sensor-based microphone, and an audio processor (including shelf-life matrix, diseases matrix, defect matrix and maturity matrix specific to each perishable commodity) and a display system, which automatically determines ready for harvest condition, diseases (if any), maturity and the remaining shelf life of the perishable commodity.

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.

A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.