Title:
光学式触覚センサ、光学式触覚センサを利用したセンシング方法、センシングシステム、物体操作力制御方法、物体操作力制御装置、物体把持力制御装置及びロボットハンド
Document Type and Number:
Japanese Patent JP4621827
Kind Code:
B2
Abstract:
An optical tactile sensor has a touch pad and a CCD camera for imaging behavior of the touch pad. A CPU processes image information from the CCD camera, extracts information on the size, shape, and center of gravity of a contact region, and extracts information on the size of a fixation region. The CPU obtains a normal force from the size of the contact region, obtains a tangential force from the shape of the contact region and the center of gravity of the contact region, and obtains a friction coefficient from the ratio of the size of the fixation region to the size of the contact region.
Inventors:
Ohikata Goro
Kiyoshi Oka
Hiroki Miura
Norihiko Moriyama
Kiyoshi Oka
Hiroki Miura
Norihiko Moriyama
Application Number:
JP2004066401A
Publication Date:
January 26, 2011
Filing Date:
March 09, 2004
Export Citation:
Assignee:
Nagoya Institute of Industrial Science
International Classes:
G01L5/00; B25J13/00; B25J13/08; B25J15/08; B25J19/02; G01L5/22; G01N19/02; G01V9/00
Domestic Patent References:
| JP3047021B2 | ||||
| JP61205831A | ||||
| JP2000227371A | ||||
| JP7128163A | ||||
| JP2005114715A | ||||
| JP2000254884A | ||||
| JP2007518966A |
Foreign References:
| WO2002018893A1 |
Attorney, Agent or Firm:
Hisahiko Atsumi