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1. (WO2013157295) EXTERNAL FORCE COMPUTATION METHOD

Pub. No.:    WO/2013/157295    International Application No.:    PCT/JP2013/053930
Publication Date: Fri Oct 25 01:59:59 CEST 2013 International Filing Date: Wed Feb 20 00:59:59 CET 2013
IPC: G01L 1/02
A61B 19/00
B25J 19/00
B25J 19/02
F15B 11/06
G01L 5/00
Applicants: TOKYO INSTITUTE OF TECHNOLOGY
国立大学法人 東京工業大学
Inventors: TADANO Kotaro
只野 耕太郎
KAWASHIMA Kenji
川嶋 健嗣
OKAMOTO Yu
岡本 悠
Title: EXTERNAL FORCE COMPUTATION METHOD
Abstract:
Provided is an external force computation method, with which it is possible to implement, by not having a mechanical sensor, such as a displacement sensor, disposed thereon, miniaturization of a device and ease of sterilization washing. A method for computing an external force (F) which is loaded upon a jig (15) in an air pressure actuator (10A) comprising a drive unit (13) which is connected to the jig (15) comprises: a state degree measurement step which measures, by state degree measurement means (20, 30), a state degree of air when the drive unit (13) moves by the load of the external force (F) on the jig (15); and an external force computation step of computing, by a computation unit, the external force (F) which is loaded upon the jig (15), on the basis of the state degree which is measured in the state degree measurement step and a relational formula of the state degree and the external force (F) which is loaded upon the jig (15).