# US 10,442,091 B2 · Pressure-sensitive sensor, gripping device, and robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,442,091 B2 - Document ID: US10442091B2 - Status: Granted - Kind: B2 - Application number: 16/072,056 - Filed: 2016-12-14 - Published: 2019-01-31 - Granted: 2019-10-15 - Earliest claimed: 2016-01-29 - Assignees: Ricoh Company, Ltd. - Applicants: Tsuneaki Kondoh; Tomoaki Sugawara; Yuko Arizumi; Mayuka Araumi; Mizuki Otagiri; Junichiro Natori; Megumi Kitamura; Takahiro Imai; Hideyuki Miyazawa; Makito Nakashima - Inventors: Tsuneaki Kondoh; Tomoaki Sugawara; Yuko Arizumi; Mayuka Araumi; Mizuki Otagiri; Junichiro Natori; Megumi Kitamura; Takahiro Imai; Hideyuki Miyazawa; Makito Nakashima - Web page: https://patentgrep.com/patent/US10442091B2 ## CPC - B25J 15/08: having finger members (B25J15/02, B25J15/04 take precedence) - B25J 13/082: {Grasping-force detectors (in general G01L5/16, G01L5/22)} - B25J 19/02: Sensing devices - G01L 1/005: {by electrical means and not provided for in G01L1/06 - G01L1/22} - G01L 1/16: using properties of piezoelectric devices - G01L 5/00: Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes - G01L 5/226: {to manipulators, e.g. the force due to gripping} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) ## Abstract A gripping device 18 is provided at the front end of an arm of an assembly robot 2. The gripping device 18 includes a pair of grippers 20 and 22 capable of opening and closing. The side configured to come into contact with a part 4, of each gripper 20, 22 includes a pressure-sensitive sensor 24. The pressure-sensitive sensor 24 includes a first electrode and a second electrode serving as a pair of electrodes and an intermediate layer formed of rubber or a rubber composition between the pair of electrodes. The intermediate layer is configured to generate electricity when deformed by contact with an object (part 4). The side configured to come into contact with the object, of the intermediate layer is subjected to a surface modification treatment and has a higher hardness than the opposite side. ## Claims ### Claim 1 A pressure-sensitive sensor, comprising: a pair of electrodes; and an intermediate layer between the pair of electrodes, the intermediate layer being formed of a polymer or a polymer composition and configured to cause electrification to occur between the intermediate layer and the electrodes and generate electricity when deformed by contact with a target object, wherein the pressure-sensitive sensor has a stack structure in which the intermediate layer is sandwiched on both sides in a thickness direction by the pair of electrodes; and one side in a stacking direction of the intermediate layer is subjected to a surface modification treatment such that a degree of deformation for an identical deforming force differs between the one side and the other side. ### Claim 2 (depends on 1) The pressure-sensitive sensor according to claim 1, wherein a surface of an electrode configured to come into contact with the target object, from among the pair of electrodes, is covered with a cover having flexibility. ### Claim 3 (depends on 1) The pressure-sensitive sensor according to claim 1, wherein the side subjected to the surface modification treatment of the intermediate layer and an electrode opposed to the side are disposed such that frictional electrification or peeling electrification occurs during the deformation. ### Claim 4 (depends on 1) The pressure-sensitive sensor according to claim 1, wherein the intermediate layer comprises silicone rubber. ### Claim 5 (depends on 4) The pressure-sensitive sensor according to claim 4, wherein the silicone rubber has an organopolysiloxane bond and has a concentration profile in which oxygen increases from the side subjected to the surface modification treatment toward an inside of the intermediate layer and has a local maximum, and carbon decreases from the side subjected to the surface modification treatment toward the inside of the intermediate layer and has a local minimum. ### Claim 6 (depends on 1) A gripping device comprising the pressure-sensitive sensor of claim 1 in a gripper configured to grip the target object or grip the target object in cooperation with another member. ### Claim 7 (depends on 6) A robot comprising the gripping device of claim 6. ### Claim 8 (depends on 1) The pressure-sensitive sensor of claim 1, wherein the intermediate layer has a Young's modulus of less than 0.1 Gpa.