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Touch measurement sensor based on visual sense

A technology for measuring sensors and tactile sensations, applied in the direction of measuring force, measuring devices, instruments, etc., can solve problems such as noise, sensitive to temperature changes, and inability to detect shear force

Inactive Publication Date: 2016-10-26
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, these sensors have some shortcomings, such as sensors based on voltage or capacitance changes are sensitive to noise and temperature changes, and can only detect vertical force, not shear force

Method used

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  • Touch measurement sensor based on visual sense

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Embodiment Construction

[0013] The vision-based tactile sensor proposed by the present invention has a structural schematic diagram as figure 1 As shown, it includes: shell 1, communication interface conversion circuit 8, camera 2, light-transmitting support layer 7, light-emitting diode 6, light-emitting diode excitation circuit 3, elastic body with marking 4 and black rubber 5. The communication interface conversion circuit 8 is fixed on the bottom of the housing 1, and the communication interface conversion circuit 8 outputs signals through signal lines. On the circuit board of the fixed communication interface conversion circuit 8 of the camera 2. The light-transmitting support layer 7 is relatively fixed to the shell 1, and the center of the upper part of the light-transmitting support layer 7 is fixed with a marked elastic body 4. Marking points are printed on the upper surface of the marked elastic body, and the two sides of the marked elastic body are respectively provided with The light emi...

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Abstract

The present invention relates to a touch measurement sensor based on visual sense, belonging to the field of the robot sensor technology. The touch sensor comprises necessary structure assemblies such as an image acquisition camera, an elastic body with a mark point, a light emitting diode and the like, and employs a semiconductor technology and a micro mechanical processing technology. When the sensor is directly contacted with on object, the elastic body is forced to generate deformation, the mark points can correspondingly move, and the front and back image information of the mark points are captured by the image acquisition camera. Compared with the front and back image information of the applied force, the displacement information of the mark points is calculated, and an elastic principle is employed to calculate the force condition of the sensor through the displacement information of the mark points. The touch measurement sensor based on visual sense can provide measurement of three-dimensional force information such as touch, slip sensing, pressure sensing and the like and can be applied to the robot dexterous hand's touch sensing field.

Description

technical field [0001] The invention relates to a vision-based tactile measurement sensor, which belongs to the technical field of robot sensors. Background technique [0002] The robotic dexterous hand needs to be able to perform various operations such as grasping, moving, pinching or fixing objects. During the operation, the tactile feedback of the dexterous hand must be used to achieve precise control of the operating force and avoid damage to the manipulated object. There are many kinds of conventional dexterous hand sensors, including piezoresistive, capacitive, photoelectric, etc., that is, the strength of the sensor can be judged by the change of resistance, capacitance, and light intensity under the applied force. However, these sensors have some shortcomings, such as sensors based on voltage or capacitance changes are sensitive to noise and temperature changes, and can only detect vertical force, not shear force. Contents of the invention [0003] The purpose of...

Claims

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Application Information

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IPC IPC(8): G01L1/24B25J13/08
CPCG01L1/24B25J13/084G01L1/241
Inventor 孙富春方斌张春郭峰刘华平杨超
Owner TSINGHUA UNIV
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