CA2303469A1 - Touch sensor - Google Patents

Touch sensor Download PDF

Info

Publication number
CA2303469A1
CA2303469A1 CA 2303469 CA2303469A CA2303469A1 CA 2303469 A1 CA2303469 A1 CA 2303469A1 CA 2303469 CA2303469 CA 2303469 CA 2303469 A CA2303469 A CA 2303469A CA 2303469 A1 CA2303469 A1 CA 2303469A1
Authority
CA
Canada
Prior art keywords
rubber skin
pins
touch sensor
acquisition device
image acquisition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA 2303469
Other languages
French (fr)
Other versions
CA2303469C (en
Inventor
Kazuyuki Nagata
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Publication of CA2303469A1 publication Critical patent/CA2303469A1/en
Application granted granted Critical
Publication of CA2303469C publication Critical patent/CA2303469C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/20—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
    • G01B5/207—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Endoscopes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

A touch sensor for detecting three-dimensional features of an object includes a rubber skin and a plurality of pins provided on one surface of the rubber skin. The rubber skin and pins are formed of materials having different colors to facilitate image processing. An image acquisition device is provided facing the one surface with the pins. When an object presses against the outer surface of the rubber skin, the rubber skin is depressed in a way that corresponds to the shape of the object. This spreads the pins, forming a pattern of a different brightness that is detected by the image acquisition device to thereby enable three-dimensional features of the object to be identified.
CA 2303469 1999-04-05 2000-03-30 Touch sensor Expired - Fee Related CA2303469C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11097125A JP3047021B1 (en) 1999-04-05 1999-04-05 Tactile sensor
JP11-97125 1999-04-05

Publications (2)

Publication Number Publication Date
CA2303469A1 true CA2303469A1 (en) 2000-10-05
CA2303469C CA2303469C (en) 2006-01-17

Family

ID=14183853

Family Applications (1)

Application Number Title Priority Date Filing Date
CA 2303469 Expired - Fee Related CA2303469C (en) 1999-04-05 2000-03-30 Touch sensor

Country Status (5)

Country Link
JP (1) JP3047021B1 (en)
CA (1) CA2303469C (en)
DE (1) DE10013756B4 (en)
FR (1) FR2791593B1 (en)
GB (1) GB2351554A (en)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6700563B1 (en) * 2000-09-29 2004-03-02 Intel Corporation 3D encoder
JP4621827B2 (en) * 2004-03-09 2011-01-26 財団法人名古屋産業科学研究所 Optical tactile sensor, sensing method using optical tactile sensor, sensing system, object operation force control method, object operation force control device, object gripping force control device, and robot hand
JP5239987B2 (en) * 2009-03-24 2013-07-17 株式会社豊田自動織機 Finger with built-in imaging device for robot hand
US10058302B2 (en) 2010-07-21 2018-08-28 The Regents Of The University Of California Method to reduce radiation dose in multidetector CT while maintaining image quality
US9403053B2 (en) 2011-05-26 2016-08-02 The Regents Of The University Of California Exercise promotion, measurement, and monitoring system
WO2013096499A1 (en) * 2011-12-19 2013-06-27 The Regents Of The University Of California System for and method of quantifying on-body palpitation for improved medical diagnosis
US10201746B1 (en) 2013-05-08 2019-02-12 The Regents Of The University Of California Near-realistic sports motion analysis and activity monitoring
CN110799313A (en) * 2017-06-21 2020-02-14 斋藤创造研究所株式会社 Manipulator and robot
JP2019166577A (en) * 2018-03-22 2019-10-03 ソニー株式会社 Detection device, gripping mechanism control program and gripping mechanism control method
KR20220027142A (en) 2019-07-04 2022-03-07 고쿠리츠다이가쿠호진 도호쿠다이가쿠 Tactile Sensors, Tactile Sensor Systems and Programs
US20210023714A1 (en) * 2019-07-24 2021-01-28 Abb Schweiz Ag Illuminated Surface as Light Source for In-Hand Object Location System
US11548165B2 (en) * 2019-10-10 2023-01-10 Mitsubishi Electric Research Laboratories, Inc. Elastomeric tactile sensor
US11472040B2 (en) * 2019-10-10 2022-10-18 Mitsubishi Electric Research Laboratories, Inc. Tactile sensor
KR20230097661A (en) * 2021-12-24 2023-07-03 삼성전자주식회사 Sensor assembly including light control member and electonic device including the same
WO2024117139A1 (en) * 2022-11-28 2024-06-06 Ｔａｃｌｅ株式会社 Optical tactile sensor, robot hand, and robot arm

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60253904A (en) * 1984-05-31 1985-12-14 Shimadzu Corp Step sensor

Also Published As

Publication number Publication date
GB2351554A (en) 2001-01-03
DE10013756A1 (en) 2000-11-23
FR2791593A1 (en) 2000-10-06
DE10013756B4 (en) 2007-09-13
CA2303469C (en) 2006-01-17
JP3047021B1 (en) 2000-05-29
JP2000288973A (en) 2000-10-17
GB0007804D0 (en) 2000-05-17
FR2791593B1 (en) 2002-09-06

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Legal Events

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EEER Examination request
MKLA Lapsed