FORCE VECTOR RECONSTRUCTION METHOD USING OPTICAL TACTILE SENSOR

The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact...

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Bibliographic Details
Main Authors KAMIYAMA, KAZUTO, KAJIMOTO, HIROYUKI, TACHI, SUSUMU, KAWAKAMI, NAOKI, MIZOTA, TERUKAZU
Format Patent
LanguageEnglish
French
German
Published 19.09.2007
Subjects
MEASURING
MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE
PHYSICS
TESTING
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Summary:The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.
Bibliography:Application Number: EP20040787844