Contact Sensor Markers for Force Direction Sensing
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Solution Overview
Problem
Current electronic apparatuses, such as robot hands, face challenges in accurately sensing contact information due to errors in identifying force intensity and direction, particularly when the force intensity increases, causing markers to move closer to each other and leading to incorrect force direction identification.
Innovation Solution
The electronic apparatus incorporates a contact portion with a plurality of markers, including different forms and colors, and a camera to capture images, with a processor that identifies marker displacements to determine force intensity and direction, utilizing a lens array for perpendicular force detection and comparing images to reduce sensing errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If markers are used to detect force direction and intensity, then contact information sensing is enabled, but sensing precision deteriorates when force intensity increases causing markers to move closer together
Solution Approach 1:
The contact portion is divided into multiple discrete markers with unique patterns, allowing individual tracking of each marker's displacement. This segmentation enables the system to detect force information from multiple points simultaneously, improving overall sensing reliability while maintaining measurement precision through pattern recognition algorithms.
Solution Approach 2:
Different markers are assigned distinct color patterns and visual characteristics. This allows the camera system to differentiate between adjacent markers even when they move close together under high force, preventing identification errors and maintaining measurement precision across the full range of force intensities.
2Measurement precision
If multiple markers are placed close together to improve spatial resolution, then detection accuracy improves, but marker identification becomes difficult when they move close together under high force
Solution Approach 1:
Each marker is equipped with unique local qualities in the form of distinct patterns, colors, and geometric features. This allows the vision system to reliably identify and track each marker individually based on its unique characteristics, even when markers are positioned close together or experience large displacements under high force conditions.
Solution Approach 2:
Markers incorporate asymmetric pattern designs and non-uniform color distributions that create distinctive visual signatures. This asymmetry ensures that no two markers appear identical from any viewing angle or displacement state, enabling reliable identification and tracking throughout the full range of motion and force conditions.
3Ease of manufacture
If a simple marker design is used, then manufacturing is easier, but sensing precision of force direction and intensity deteriorates
Solution Approach 1:
The system uses color patterns and visual features on markers that can be applied through standard printing or coating processes during normal manufacturing. These color-based identification schemes provide high measurement precision for force direction and intensity while remaining compatible with conventional manufacturing techniques, avoiding the need for complex or specialized fabrication processes.
Data Source
AI summary
An electronic apparatus includes a contact portion including a plurality of markers, a camera, and at least one processor configured to identify, based on at least one surface of the contact portion contacting an object, at least one displacement of the plurality of markers based on a first image in which a first surface of the contact portion that is opposite to the at least one surface is captured by the camera, and identify, based on the at least one displacement, at least one of an intensity of a force applied to the contact portion and a direction of the force applied to the contact portion, where a first marker of the plurality of markers includes at least one of a form and a color that is different from a second marker of the plurality of markers that is adjacent to the first marker.