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Optical tactile sensor

A tactile sensor, optical technology, applied in the field of tactile sensors, can solve problems such as inappropriate tactile sensors

Inactive Publication Date: 2005-01-26
TOUDAITLO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention is a solution to the inappropriate situation of the existing tactile sensor, and its purpose is to provide a multi-channel sensor that utilizes color, that is, the spectrum, into an optical tactile sensor. A tactile sensor that obtains information of multiple degrees of freedom at each point

Method used

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Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0039] In the first embodiment, spherical marks are juxtaposed in the depth direction. Such as figure 2 As shown, the color-coded spherical fine particles are used as marks, and they are divided into several layers according to the color. For example, if it is divided into RGB (red, green, cyan), it is easy to capture the colors layer by layer with the color filter of the camera. In the figure, a mark group 2A composed of red fine marks is embedded in the first shallow part (the side away from the camera) from the surface where the object 3 of the elastic body 1 is in contact with. A marker group 2B composed of green fine spherical markers is embedded in a deeper portion, and a cyan fine spherical marker 2C is embedded in a deeper portion (closer to the camera side) than the layer in which the markers 2B are embedded. exist figure 2 In the figure, the camera is not shown, but the camera 3 is disposed facing the surface opposite to the surface that the object 3 is in conta...

no. 2 approach

[0047] Refer below Figure 4 and Figure 5 The second embodiment of the present invention will be described. In the second embodiment, the mark is a very thin cylinder or a very thin cylinder with a small cross-section. In the illustrated mark, the mark is within the thickness of the transparent elastic body. Buried vertically. The marker extends along an imaginary line connecting and touching the object on the elastomer and the camera. In the elastic body 2, a large number of marks are arranged in parallel at a predetermined depth to form a mark group, and the mark group is arranged in three layers at different depths.

[0048] In the mark shown in the figure, a mark group 20A composed of a red ultra-fine cylindrical mark is buried on the first shallower part from the surface where the object 3 of the elastic body 1 contacts. A marker group 20B consisting of green ultra-thin cylindrical marks is embedded in a deeper layer, and a marker group 20C consisting of cyan ultra-th...

no. 3 approach

[0055] Refer below Figure 7 A third embodiment related to the third embodiment of the present invention will be described. Use very thin strips (for example, about 0.001mn) as marks, and form a group of marks by making them form a large number of parallel arrangements. And make other color-separated marking groups arranged at different angles with the said marking group. Although in the marking group in the figure, as a preferred mode, it is to make two marking groups 200A (a marking group composed of a plurality of red thin-walled strips arranged side by side), 200B (a plurality of red thin-walled strips arranged in parallel) The respective marks of the mark group composed of cyan thin-walled strips are arranged orthogonally to each other, but the spatial arrangement relationship of the plurality of mark groups is not limited thereto. The inside of the tapes of each mark is formed in a different color.

[0056] The tape mark is embedded in the thickness of the rectangular ...

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Abstract

The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably; the marker groups have mutually different spatial arrangements.

Description

technical field [0001] The present invention relates to an optical tactile sensor, and particularly relates to a tactile sensor such as a tactile sensor for a manipulator. Background technique [0002] When considering the contact state of the contact surface felt by the touch sensor, the force applied to each point of each contact surface is a vector having three components of magnitude and direction. Use the vector Figure 10 The coordinate system of is expressed as f(x, y). But because f is a vector, it actually has three components x, y, and z at each point. When expressly expressing each component, it expresses as f(x, y)=[fx(x, y), fy(x, y), fz(x, y)]. [0003] Since the force distribution has three components at each contact point, at least three degrees of freedom information must be obtained for each point of the contact surface in order to reconstruct the force distribution of the contact surface by means of the tactile sensor. However, in many surface contact s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/03G01B11/06G01D21/00G01L1/24G01L5/22G06F3/033G06F3/042
CPCG06F3/042G06F3/0425G01L1/247G01L1/24
Inventor 馆暲梶本裕之
Owner TOUDAITLO LTD