Title:
OPTICAL TACTILE SENSOR, SENSING METHOD, SENSING SYSTEM, OBJECT OPERATION FORCE CONTROLLING METHOD, OBJECT OPERATION FORCE CONTROLLING DEVICE, OBJECT HOLDING FORCE CONTROLLING METHOD, AND ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2005/085785
Kind Code:
A1
Abstract:
An optical tactile sensor (11) has a touch pad (12) and a CCD camera (13) for imaging behavior of the touch pad (12). A CPU (23) processes image information from the CCD camera (13), extracts information on the size, shape, and center of gravity of a contact region (A1), and extracts information on the size of a fixation region (A2). The CPU (23) obtains a normal force from the size of the contact region (A1), obtains a tangential force from the shape of the contact region (A1) and the center of gravity of the contact region (A1), and obtains a friction coefficient from the ratio of the size of the fixation region (A2) to the size of the contact region (A1).
Inventors:
OBINATA GORO (JP)
OKA KIYOSHI (JP)
MIURA HIROKI (JP)
MORIYAMA NOBUHIKO (JP)
OKA KIYOSHI (JP)
MIURA HIROKI (JP)
MORIYAMA NOBUHIKO (JP)
Application Number:
PCT/JP2005/004259
Publication Date:
September 15, 2005
Filing Date:
March 04, 2005
Export Citation:
Assignee:
INST NAGOYA IND SCIENCE RES (JP)
OBINATA GORO (JP)
OKA KIYOSHI (JP)
MIURA HIROKI (JP)
MORIYAMA NOBUHIKO (JP)
OBINATA GORO (JP)
OKA KIYOSHI (JP)
MIURA HIROKI (JP)
MORIYAMA NOBUHIKO (JP)
International Classes:
B25J13/00; B25J13/08; B25J19/02; G01L5/22; G01L5/00; G01N19/02; G01V9/00; (IPC1-7): G01L5/00; B25J13/08; B25J19/02; G01N19/02
Domestic Patent References:
| WO2002018893A1 | 2002-03-07 |
Foreign References:
| JP3047021B1 | 2000-05-29 | |||
| JPH0726805B2 | 1995-03-29 | |||
| JPH11304602A | 1999-11-05 | |||
| JP2000254884A | 2000-09-19 | |||
| JP2005114715A | 2005-04-28 |
Attorney, Agent or Firm:
Atsumi, Hisahiko (5th floor 21-1, Hiromi-cho 2-chome, Showa-ku, Nagoya-sh, Aichi 46, JP)
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