FORCE VECTOR RECONSTRUCTION METHOD USING OPTICAL TACTILE SENSOR

• Main Authors: KAMIYAMA, KAZUTO, KAJIMOTO, HIROYUKI, TACHI, SUSUMU, KAWAKAMI, NAOKI, MIZOTA, TERUKAZU
• Format: Patent
• Language: English; French; German
• Published: 19.09.2007
• Subjects: MEASURING; MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE; PHYSICS; TESTING

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.