Tactile sensors and sensing systems

Abstract

To provide a tactile sensor with improved measurement sensitivity. [Solution] The tactile sensor 1 includes a pressure-sensitive section 10, the pressure-sensitive section 10 contains magnetically responsive particles, and a measuring section 11 measures the amount of response corresponding to the change in the density distribution of the magnetically responsive particles caused by an external force applied to the pressure-sensitive section 10.

Description

Technical Field

[0001] The present invention relates to a tactile sensor and a sensing system.

Background Art

[0002] In recent years, for the improvement of productivity and the solution of labor shortages, automation by robots has been promoted. In particular, replacing manual work with work by robots has attracted attention. Along with this, the demand for tactile sensors that can detect the force applied by a robot to an object to be worked on is increasing. Since a tactile sensor physically contacts an object, there is a risk of failure due to deterioration. Therefore, the ease of replacement is highly regarded for tactile sensors.

[0003] For example, WO2019 / 049888 discloses a tactile sensor. This tactile sensor includes a non-magnetic flexible layer formed on a substrate, a magnetic flexible layer in which particles having a permeability higher than that of the non-magnetic flexible layer and not magnetized are dispersed and formed so as to be supported by the non-magnetic flexible layer, a coil formed on the substrate and having an inductance that changes based on the displacement of the particles due to an external force acting on the magnetic flexible layer, and an inductance measurement circuit that measures the change in the inductance of the coil.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the tactile sensor of WO2019 / 049888, there is a limit to the measurement sensitivity in order to measure the displacement amount.

[0005] An object of the present invention is to improve the measurement sensitivity of a tactile sensor.

Means for Solving the Problems

[0006] One aspect of the present invention is comprising a pressure-sensitive part, The pressure-sensitive portion includes magnetically responsive particles, The system includes a measuring unit that measures the amount of response corresponding to the change in the density distribution of magnetically responsive particles caused by the external force applied to the pressure-sensitive part. It is a tactile sensor. [Brief explanation of the drawing]

[0007] [Figure 1] This is a block diagram showing the configuration of the tactile sensor system of this embodiment. [Figure 2] This is a diagram showing the configuration of the tactile sensor of this embodiment. [Figure 3] This is a cross-sectional view of the tactile sensor in Figure 2A, when it is cut along the dashed line C1. [Figure 4] This is an explanatory diagram of the measurement process of this embodiment. [Figure 5] This figure shows an example of a screen displaying the measurement results of this embodiment. [Figure 6] This is a diagram showing the configuration of the tactile sensor in modified example 1. [Figure 7] This is a cross-sectional view of the pressure-sensitive part of modified example 2. [Figure 8] This figure shows an example of application example 4 of modified example 3. [Figure 9] This figure shows an example of application example 6 of modified example 3. [Modes for carrying out the invention]

[0008] Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. In the drawings used to illustrate the embodiment, the same reference numerals are generally used for identical components, and repeated descriptions thereof will be omitted.

[0009] (1) Configuration of the tactile sensor system The configuration of the tactile sensor system will be described. Figure 1 is a block diagram showing the configuration of the tactile sensor system of this embodiment. Figure 2 is a diagram showing the configuration of the tactile sensor of this embodiment. Figure 3 is a cross-sectional view of the tactile sensor of Figure 2A when cut along the dashed line C1. Figure 2A is a perspective view of the tactile sensor 1. FIG. 2B is a plan view of the measurement unit 11 in the XY plane.

[0010] As shown in FIG. 1, the tactile sensor system includes a tactile sensor 1 and a display device 2.

[0011] As shown in FIGS. 1 to 3, the tactile sensor 1 includes a pressure-sensitive part 10, a measurement part 11, a control part 12, a power supply 13, and a cover 14. The pressure-sensitive part 10, the cover 14, the measurement part 11, and the control part 12 are stacked along the Z-axis (FIG. 2A).

[0012] The pressure-sensitive part 10 is configured to show a reaction according to an external force applied from the outside of the tactile sensor 1. Specifically, the pressure-sensitive part 10 includes a magnetic layer but does not include a non-magnetic layer. The magnetic layer includes magneto-responsive particles. The magneto-responsive particles are in a foamed state. The magnetic layer is a composite material mixture of a base material and a magneto-responsive material. The pressure-sensitive part 10 is formed by dispersing the magneto-responsive material in the base material.

[0013] The base material is a predetermined flexible material. The material of the base material is, for example, at least one of the following. · Polyurethane foam · Silicone elastomer

[0014] The magneto-responsive material is a material in which magneto-responsive particles are mixed in a certain weight ratio in the original material. The magneto-responsive particles are fine particles of a magnetic substance (for example, iron) and a conductor (for example, aluminum, copper, or carbon). The magneto-responsive particles have the property of changing a magnetic field. This property is determined by the type, diameter of the magneto-responsive particles, and the strength of the magnetic field received by the magneto-responsive particles.

[0015] The magneto-responsive material has the property of affecting a magnetic field. <on When an external force is applied to the magneto-responsive material, it is compressed by the influence of the external force. When the magneto-responsive material is compressed, the density distribution of the magneto-responsive particles inside the magneto-responsive material changes. When the density distribution of the magneto-responsive particles changes, the magnetic field also changes.

[0016] The measurement unit 11 is configured to measure the magnitude of the external force (hereinafter referred to as "external force acting amount") for each position of the pressure-sensitive unit 10 based on the change in the density distribution of the magneto-responsive material. Specifically, it has a measurement element 111 and a measurement circuit 112. The measurement element 111 has a coil 1111 and a capacitor 1112. The coil 1111 and the capacitor 1112 are connected in parallel with the measurement circuit 112. That is, the coil 1111, the capacitor 1112, and the measurement circuit 112 form an LC parallel resonance circuit. The measurement circuit 112 passes an alternating current through the coil 1111 and the capacitor 1112. As a result, the impedance becomes infinite at a specific frequency, and a resonance phenomenon of the coil 1111 and the capacitor 1112 occurs. The measurement circuit 112 utilizes this resonance phenomenon to measure the change amount of the inductance (hereinafter referred to as "inductance change amount" ΔL) of the coil 1111.

[0017] The control unit 12 is configured to calculate a physical quantity based on the response quantity (for example, the inductance change amount ΔL) measured by the measurement unit 11. The physical quantity is the external force acting amount for each position of the pressure-sensitive unit 10. The physical quantity includes, for example, at least one of the following. · Newton force [N] · Pressure [Pa] · Pressing length [cm]

[0018] The control unit 12 is configured to generate a display signal for displaying the physical quantity calculated by the control unit 12 on the display device 2, and to transmit the display signal to the display device 2.

[0019] The power supply 13 is configured to supply power to the measurement unit 11 and the control unit 12.

[0020] The cover 14 is located between the pressure-sensitive section 10 and the measuring section 11. The cover 14 is configured to prevent external forces applied to the pressure-sensitive section 10 from acting on the measuring section 11. The material of cover 14 includes, for example, at least one of the following: • Acrylic resin ·PLA (Poly-Lactic Acid) resin ·ABS (Acrylonitrile Butadiene Styrene) resin • Polyethylene resin • Polyethylene terephthalate resin

[0021] The display device 2 is connected to the control unit 12 by wire or wireless connection. The display device 2 is configured to display an image corresponding to a display signal transmitted from the control unit 12 (for example, an image showing a physical quantity calculated by the control unit 12). The display device 2 is, for example, at least one of the following: • Display (for example, an LCD display or an OLED (Electro-Luminescence) display) • Personal computer • Smartphone ·tablet

[0022] (2) Measurement process The measurement process of this embodiment will now be described. Figure 4 is an explanatory diagram of the measurement process of this embodiment. Figure 5 is a diagram showing an example of a screen displaying the measurement results of this embodiment.

[0023] As shown in Figure 4, when an external force F is applied to the pressure-sensitive section 10, the density distribution of the magnetically responsive material contained in the magnetic layer 101 changes (Figure 4A). When the density distribution of a magnetically responsive material changes, the magnetic field H changes (Figure 4B). When the magnetic field H changes, the response (resonance frequency) of the measuring element 111 changes.

[0024] In this case, the change in inductance ΔL of coil 1111 is expressed by Equation 1.

number

[0025] The measurement circuit 112 measures the inductance change ΔL based on the resonant frequencies of the coil 1111 and capacitor 1112, according to Equation 1. The control unit 12 calculates the amount of external force F acting on the pressure-sensitive part 10 at each position based on the amount of inductance change ΔL measured by the measurement circuit 112. The control unit 12 generates a display signal for displaying an image showing the calculation result of the physical quantity.

[0026] As shown in Figure 5A, when an external force is applied to the region X1Y2 of the pressure-sensitive section 10, the control unit 12 calculates the amount of external force acting on each position of the pressure-sensitive section 10. The control unit 12 generates a display signal for displaying an image showing the calculation result and transmits the display signal to the display device 2.

[0027] As shown in Figure 5B, the display device 2 displays an image corresponding to the display signal. The image includes a simulated image of the pressure-sensitive unit 10. The simulated image is divided into multiple regions (four regions in Figure 5B). The simulated image is displayed in a display mode (for example, at least one of color and pattern) corresponding to the calculation result of the control unit 12 (i.e., the amount of external force applied at each position of the pressure-sensitive unit 10).

[0028] (3) Summary of this embodiment According to this embodiment, the amount of response corresponding to the change in the density distribution of magnetically responsive particles is measured. This makes it possible to improve the sensitivity of the tactile sensor 1.

[0029] According to this embodiment, the response amount (inductance change ΔL) may be measured using an LC parallel resonant circuit consisting of a coil 1111 and a capacitor 1112. This makes it possible to improve the accuracy and speed of the tactile sensor 1.

[0030] According to this embodiment, the magnetically responsive particles may be in a foamed state. This allows for further improvement of the sensitivity of the tactile sensor 1.

[0031] According to this embodiment, the pressure-sensitive section 10 does not need to include a non-magnetic layer. This allows for further improvement of the sensitivity of the tactile sensor 1.

[0032] According to this embodiment, the system may include a control unit 12 that calculates a physical quantity based on the response quantity. This makes it possible to obtain the desired physical quantity.

[0033] According to this embodiment, the physical quantity may be the amount of external force applied at each position of the pressure-sensitive part 10. This makes it possible to determine the distribution of the amount of external force applied to the pressure-sensitive section 10.

[0034] According to this embodiment, a cover 14 may be provided between the pressure-sensitive section 10 and the measuring section 11. This prevents damage to the measuring unit 11 due to external forces.

[0035] (4) Variations A modified example of this embodiment will be described.

[0036] (4-1) Experimental variation 1 Modification 1 of this embodiment will now be described. Modification 1 of this embodiment is an example in which the measuring elements are a magnet and a Hall element.

[0037] (4-1-1) Configuration of the tactile sensor system in the modified example 1 The configuration of the tactile sensor system in Modification Example 1 will be described. Figure 6 is a diagram of the tactile sensor configuration in Modification Example 1.

[0038] As shown in Figure 6, the tactile sensor 1 comprises a pressure-sensitive unit 10, a measurement unit 11, a control unit 12, a power supply 13, and a cover 14. The pressure-sensitive unit 10, control unit 12, power supply 13, and cover 14 are the same as in Figure 2.

[0039] The measurement unit 11 is configured to measure the amount of external force applied to the pressure-sensitive unit 10 at each position based on the change in the density distribution of the magnetically responsive material. Specifically, it includes a measuring element 111 and a measuring circuit 112. The measuring element 111 includes a magnet 1113 and a Hall element 1114.

[0040] The Hall element 1114 is connected to the measurement circuit 112. The Hall element 1114 generates a voltage corresponding to the magnetic field generated by the magnet 1113.

[0041] The measurement circuit 112 measures the change in the magnetic field of the Hall element 1114 (hereinafter referred to as "magnetic field change") ΔB. The magnetic field change ΔB is an example of a response quantity.

[0042] (4-1-2) Measurement process of modified example 1 The measurement process for variation 1 will be explained.

[0043] As shown in Figure 4, when an external force F is applied to the pressure-sensitive section 10, the density distribution of the magnetically responsive material contained in the magnetic layer 101 changes (Figure 4A). When the density distribution of a magnetically responsive material changes, the magnetic field H changes (Figure 4B). When the magnetic field H changes, the response of the measuring element 111 (magnetic field B of the magnet 1113) changes.

[0044] In this case, the change in magnetic field B, ΔB, is expressed by Equation 2. ΔB=b(V)-b(V0)…(Formula 2) b()... A function of the magnetic field with voltage as a variable. V...Voltage of the Hall element 1114 when an external force F is applied to the pressure-sensitive section 10. V0...Voltage of the Hall element 1114 when no external force F is applied to the pressure-sensitive section 10.

[0045] The measurement circuit 112 measures the magnetic field change ΔB based on Equation 2. The control unit 12 calculates the amount of external force F acting on the pressure-sensitive unit 10 at each position based on the amount of magnetic field change ΔB measured by the measurement circuit 112. The control unit 12 generates a display signal for displaying an image showing the calculation result of the physical quantity.

[0046] (4-1-3) Summary of Modification Example 1 According to Modification 1, the response amount (magnetic field change ΔB) may be measured using the magnet 1113 and the Hall element 1114. This makes it possible to measure the external force vector in addition to the amount of external force acting.

[0047] (4-2) Modification 2 A second modification of this embodiment will now be described. This second modification of this embodiment is an example in which the pressure-sensitive section 10 is divided into at least two regions.

[0048] (4-2-1) Configuration of the pressure-sensitive part in modified example 2 The configuration of the pressure-sensitive section 10 in Modification 2 of this embodiment will now be described. Figure 7 is a cross-sectional view of the pressure-sensitive section of Modification 2.

[0049] As shown in Figure 7, the pressure-sensitive area 10 includes a high-density region 10a and a low-density region 10b.

[0050] The high-density region 10a contains magnetically responsive particles at a higher density than the low-density region 10b. In other words, the pressure-sensitive section 10 has at least two magnetic layers containing magnetically responsive particles of different densities.

[0051] (4-2-2) Summary of Variation 2 According to Modification 2, the response to external force differs between the high-density region 10a and the low-density region 10b. This makes it possible to realize a tactile sensor 1 in which the sensitivity differs for each region of the pressure-sensitive part 10.

[0052] (4-3) Modification example 3 A third modification of this embodiment will now be described. This third modification of this embodiment is an example of an application for the tactile sensor 1.

[0053] (4-3-1) Application example 1 Let's explain Application Example 1. Application Example 1 is an example of placing the tactile sensor 1 on a car seat.

[0054] Specifically, the tactile sensor 1 is placed on the car seat (for example, the seat cushion and backrest). The tactile sensor 1 positioned on the seat surface detects body movements perpendicular to the seat surface (for example, the movement of the occupant's hips on the seat). The tactile sensor 1 positioned on the backrest detects body movement in the direction of the vehicle's movement. The control unit 12 calculates the total body motion as an external force by summing the vertical body motion and the body motion in the direction of travel.

[0055] According to example application 1, the accuracy of detecting the body movements of the seat occupant can be improved.

[0056] In example application 1, an acceleration sensor may also be used. The accelerometer measures the vibrations of the vehicle. The control unit 12 may calculate the body movement, pulsation, and heart rate of the senator based on the vertical body movement measured by the tactile sensor 1 and the vibration measured by the acceleration sensor.

[0057] (4-3-2) Application example 2 Let's explain the second application example. The second application example involves placing the tactile sensor 1 on the end effector of a robot that grasps objects.

[0058] In Example 2, the "target object" refers to the object that is grasped by the robot.

[0059] Specifically, the tactile sensor 1 is located at the end effector no. of the robot. It will be placed in the zipper. In this case, the pressure-sensitive part 10 is molded to match the shape of the target object. There may be multiple measuring elements 111. When the chuck is closed, the tactile sensor 1 is in contact with the target object, and the object is grasped by the robot, the control unit 12 calculates the pressure generated when the robot and the target object come into contact as the amount of external force. The control unit 12 is connected to the robot's controller.

[0060] According to Example 2 of the application, the pressure-sensitive part 10 conforms to the shape of the target object due to its flexibility. As a result, the robot can firmly grasp the target object without damaging it.

[0061] (4-3-3) Application example 3 Application Example 3 will now be explained. Application Example 3 is an example of placing the tactile sensor 1 in factory automation (hereinafter referred to as "FA") equipment.

[0062] In example application 3, the FA equipment includes, for example, a collaborative robot. "Target object" refers to the object handled by the FA equipment.

[0063] Specifically, the tactile sensor 1 is placed in the housing of the FA equipment. In this case, the pressure-sensitive part 10 is molded to match the shape of the target object. There may be multiple measuring elements 111. When the tactile sensor 1 comes into contact with the target object, the tactile sensor 1 detects the contact between the FA equipment and the target object from the deformation of the pressure-sensitive part 10. The control unit 12 is connected to the controller of the FA equipment.

[0064] According to application example 3, the area in which contact between FA equipment and the target object can be detected can be expanded, and the response speed to contact can be improved.

[0065] (4-3-4) Application example 4 Let's explain example use 4. Example use 4 is an example of placing the tactile sensor 1 on a game controller. Figure 8 shows an example of application example 4 of modified example 3.

[0066] Specifically, the tactile sensor 1 is placed on a game device (for example, a game controller or the game console itself). In this case, each pressure-sensitive section 10 is molded to match the shape of the game device's casing. There may be multiple measuring elements 111. A cover 14 may be placed on top of the pressure-sensitive section 10. The control unit 12 calculates an analog value corresponding to the amount of user operation (for example, pressing a button on a game controller), or generates an ON signal or OFF signal corresponding to the amount of user operation.

[0067] As shown in Figure 8, the tactile sensor 1 comprises a pair of pressure-sensitive units 10, a measurement unit 11, a control unit 12, and a pair of covers 14.

[0068] Covers 14 are placed on both sides of the measuring unit 11. The cover 14 is positioned between the pressure-sensitive section 10 and the measurement section 11.

[0069] The control unit 12 is positioned between the measurement unit 11 and the cover 14. Note that the arrangement of the control unit 12 is not limited to the example shown in Figure 8.

[0070] According to example use 4, the durability of gaming devices can be improved. In particular, as shown in the example in Figure 8, the accuracy of detecting when a user grips the game controller can be improved. This allows the user gripping the game controller to be included as an instruction in the game.

[0071] (4-3-5) Application example 5 Application Example 5 will now be explained. Application Example 5 is an example in which the tactile sensor 1 is placed on furniture (for example, a bed, cushion, chair, or flooring).

[0072] Specifically, the tactile sensor 1 is placed on furniture (for example, a bed mattress). In this case, each pressure-sensitive part 10 is molded to match the shape of the furniture. There may be multiple measuring elements 111. When a user puts weight on the furniture, the pressure-sensitive part 10 deforms according to that weight, so the tactile sensor 1 detects that the user has put weight on the furniture.

[0073] In particular, if the control unit 12 is able to connect to the internet, it may send the detection result (i.e., that the user has put weight on the furniture) to a client device connected to the internet (e.g., a smartphone).

[0074] According to example use 5, the accuracy of detecting when a user puts weight on furniture can be improved. Furthermore, according to example application 5, since the tactile sensor 1 is placed inside the furniture, the accuracy of detection can be improved without compromising the aesthetic appearance of the furniture.

[0075] In particular, in example 5, the control unit 12 transmits the detection results to the client device, so the user of the client device can easily find out the safety of the furniture user even when they are far away from the furniture user.

[0076] (4-3-6)Application example 6 Application example 6 will now be explained. Application example 6 is an example in which the tactile sensor 1 is placed in a pipe. Figure 9 shows an example of application example 6 of modified example 3.

[0077] Specifically, as shown in Figure 9A, the tactile sensor 1 has an O-ring shape. As shown in Figure 9B, the tactile sensor 1 is positioned at the connection point between pipe D1 and pipe D2. At least one measuring element 111 is positioned below the pressure-sensitive section 10. Since the pressure-sensitive part 10 deforms in response to the pressure applied to the connection, the tactile sensor 1 measures the pressure applied to the connection of the pipe. The control unit 12 calculates an index value indicating airtightness corresponding to the pressure as the amount of external force applied.

[0078] According to example application 6, the status of pipes D1 to D2 can be easily monitored.

[0079] (4-3-7) Application example 7 Application example 7 will now be explained. Application example 7 is an example in which a tactile sensor 1 is placed on a lever for heavy machinery.

[0080] Specifically, the tactile sensor 1 is positioned on a lever used to operate heavy machinery. Heavy machinery includes, for example, at least one of construction machinery and agricultural machinery. In this case, each pressure-sensitive part 10 is molded to match the shape of the heavy machinery housing. There may be multiple measuring elements 111. A cover 14 may be placed on top of the pressure-sensitive section 10. The control unit 12 calculates an analog value corresponding to the amount of user operation (for example, gripping a lever for heavy machinery), or generates an ON signal or OFF signal corresponding to the amount of user operation.

[0081] An example of application example 7 is the same as in Figure 8.

[0082] According to example 7, the levers for heavy machinery can be made smaller.

[0083] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited to the embodiments described above. Furthermore, the embodiments described above can be improved or modified in various ways without departing from the spirit of the present invention. In addition, the embodiments described above and Modification 1 can be combined. [Explanation of Symbols]

[0084] 1: Tactile sensor 2:Display device 10: Pressure-sensitive part 10a: High density area 10b: Low density area 11: Measurement Unit 12: Control Unit 13: Power supply 14: Cover 101:Magnetic layer 111: Measuring elements 112: Measurement Circuit 1111: Coil 1112: Capacitor 1113: Magnet 1114: Hall element

Claims

1. Equipped with a pressure-sensitive section, The pressure-sensitive portion includes magnetically responsive particles, Response in response to changes in the density distribution of magnetically responsive particles caused by an external force applied to the pressure-sensitive part Equipped with a measuring unit for measuring quantity, The magnetically responsive particles are in a foamed state. Tactile sensor.

2. Equipped with a pressure-sensitive section, The pressure-sensitive portion includes magnetically responsive particles, Response in response to changes in the density distribution of magnetically responsive particles caused by an external force applied to the pressure-sensitive part Equipped with a measuring unit for measuring quantity, The pressure-sensitive portion does not include a non-magnetic layer. Sensor.

3. Equipped with a pressure-sensitive section, The pressure-sensitive portion includes magnetically responsive particles, Response in response to changes in the density distribution of magnetically responsive particles caused by an external force applied to the pressure-sensitive part Equipped with a measuring unit for measuring quantity, The pressure-sensitive area includes a high-density region and a low-density region. Tactile sensor.

4. The measurement unit comprises a measurement element and a measurement circuit. The measuring element forms an LC parallel resonant circuit including a coil and a capacitor. The measurement circuit uses the following as the response amount: the coil's response to the pressure applied to the pressure-sensitive part. A tactile sensor according to any one of claims 1 to 3, for measuring the amount of change in inductance.

5. The measurement unit comprises a measurement element and a measurement circuit. The aforementioned measuring elements are a magnet and a Hall element. The measurement circuit measures the change in the magnetic field of the Hall element as the response quantity. A tactile sensor according to any one of claims 1 to 3.

6. The system includes a control unit that calculates a physical quantity based on the aforementioned response quantity. A tactile sensor according to any one of claims 1 to 3.

7. The aforementioned physical quantity is the amount of external force acting at each position of the pressure-sensitive part. The tactile sensor according to claim 6.

8. It is positioned on the seat cushion and backrest of a car seat and measures the body movements of the occupant in the seat. Equipped with a tactile sensor, The aforementioned tactile sensor is Equipped with a pressure-sensitive section, The pressure-sensitive portion includes magnetically responsive particles, In response to the change in the density distribution of magnetically responsive particles caused by the external force applied to the pressure-sensitive part. It is equipped with a measurement unit that measures the response amount, The vehicle is equipped with an acceleration sensor for measuring vibrations, Body movement measured by the tactile sensor and vibration measured by the acceleration sensor The system includes means for calculating the body movements, pulsation, and heart rate of the occupant based on the above. Sensing system.

9. Equipped with a tactile sensor, The aforementioned tactile sensor is Equipped with a pressure-sensitive section, The pressure-sensitive portion includes magnetically responsive particles, In response to the change in the density distribution of magnetically responsive particles caused by the external force applied to the pressure-sensitive part. It is equipped with a measurement unit that measures the response amount, The aforementioned tactile sensor is placed on furniture and detects the weight of the user placed on the furniture. A sensing system that outputs data.

10. A tactile sensor according to any one of claims 1 to 3, The tactile sensor is located on the end effector of the robot, and the robot A sensing system that measures the pressure generated when a device grips an object.

11. A tactile sensor according to any one of claims 1 to 3, The tactile sensor is placed in factory automation equipment, and the factory A sensing system that detects contact between tri-automation equipment and target objects.

12. A tactile sensor according to any one of claims 1 to 3, The aforementioned tactile sensor is installed in a game device and generates signals in response to user operations. A sensing system.

13. A tactile sensor according to any one of claims 1 to 3, The aforementioned tactile sensor is positioned at the connection point of the piping and is related to the connection point of the piping. A sensing system that measures pressure.

14. A tactile sensor according to any one of claims 1 to 3, The aforementioned tactile sensor is positioned on a lever for heavy machinery, and the user grips the lever for the heavy machinery. A sensing system that measures the strength of the force applied.

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