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1. 发明申请

US20080245955A1 Optical Tactile Sensor 失效
标题翻译：光学触觉传感器
公开(公告)号：US20080245955A1
公开(公告)日：2008-10-09
申请号：US10571370
申请日：2005-03-03
申请人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
发明人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
IPC分类号： H01J40/14
CPC分类号： G01L1/247 , G01L5/166 , G01L5/228
摘要： An optical tactile sensor and an image information integrating method capable of measuring large area force vector distribution are provided. The optical tactile sensor comprises a tactile section comprising a transparent elastic body (1) and a plurality of markers (3, 4) provided therein, and a plurality of imaging devices (6, 6) for obtaining a marker image by photographing the behavior of the markers when an object (5) contacts the tactile face (2) of the transparent elastic body (1). The method comprises a step of obtaining a partial image by photographing the partial regions A, B, C and D of the transparent resilient body (1) using the plurality of imaging devices (6, 6) such that each imaging device (6) has an overlapped photograph region (11), and a step of integrating the partial images obtained by each imaging device (6) such that the identical markers in the overlapped photograph region match.
摘要翻译：提供了一种能够测量大面积力矢量分布的光学触觉传感器和图像信息积分方法。光学触觉传感器包括一个包括透明弹性体（1）和设置在其中的多个标记（3,4）的触觉部分，以及多个成像装置（6,6），用于通过拍摄当物体（5）接触透明弹性体（1）的触觉面（2）时的标记。该方法包括通过使用多个成像装置（6,6）拍摄透明弹性体（1）的部分区域A，B，C和D来获得部分图像的步骤，使得每个成像装置（6）具有重叠照片区域（11），以及将由各成像装置（6）获得的部分图像进行积分的步骤，使得重叠照片区域中的相同标记符合。

2. 发明授权

US07460964B2 Force vector reconstruction method using optical tactile sensor 失效
标题翻译：使用光学触觉传感器的力矢量重建方法
公开(公告)号：US07460964B2
公开(公告)日：2008-12-02
申请号：US10571371
申请日：2004-09-10
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G01L1/06 , G01L7/02 , G01L11/02
CPC分类号： G01L1/241 , G01L1/247 , G01L5/226 , G01L5/228
摘要： 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.
摘要翻译：本发明涉及一种用于减少力矢量计算的计算时间的技术。使用光学触觉传感器的力矢量重建方法包括：当物体接触到弹性体的接触表面时，通过拍摄彩色标记的行为的图像来获得标记图像的步骤，获得与标记相关的信息的步骤来自标记图像的行为，所述信息大于要获得的力向量的数量;以及通过将与获得的标记行为相关的信息输入到传递函数来获得力向量作为输出的步骤。获得力矢量的步骤包括使用仅与期望获得力矢量的位置A的相邻区域A1的标记的行为有关的信息来计算力向量。

3. 发明申请

US20070043508A1 Force vector reconstruction method using optical tactile sensor 失效
标题翻译：使用光学触觉传感器的力矢量重建方法
公开(公告)号：US20070043508A1
公开(公告)日：2007-02-22
申请号：US10571371
申请日：2004-09-10
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G06F19/00
CPC分类号： G01L1/241 , G01L1/247 , G01L5/226 , G01L5/228
摘要： 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.
摘要翻译：本发明涉及一种用于减少力矢量计算的计算时间的技术。使用光学触觉传感器的力矢量重建方法包括：当物体接触到弹性体的接触表面时，通过拍摄彩色标记的行为的图像来获得标记图像的步骤，获得与标记相关的信息的步骤来自标记图像的行为，所述信息大于要获得的力向量的数量;以及通过将与获得的标记行为相关的信息输入到传递函数来获得力向量作为输出的步骤。获得力矢量的步骤包括仅使用与希望获得力矢量的位置A的相邻区域A 1的标记的行为有关的信息来计算力矢量。

4. 发明申请

US20070040107A1 Optical tactile sensor and method of reconstructing force vector distribution using the sensor 失效
标题翻译：光学触觉传感器和使用传感器重建力矢量分布的方法
公开(公告)号：US20070040107A1
公开(公告)日：2007-02-22
申请号：US10571576
申请日：2004-05-21
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G06M7/00
CPC分类号： G01L1/24 , B25J13/084 , G01L5/166 , G01L5/228
摘要： The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.
摘要翻译：本发明涉及一种能够在表面上的每个点处获得多个自由度的信息的触觉传感器。光学触觉传感器设置有感测部分和拍摄装置，感测部分包括透明弹性体和设置在弹性体内部的多组标记，每个标记组由多个彩色标记组成，具有组成不同标记组的标记，每组具有不同的颜色。弹性体具有任意的曲面。通过拍摄装置获得当物体接触到弹性体的曲面时的着色标记的行为作为标记的图像信息。该传感器还包括一个力向量分布重建装置，用于根据从标记的所述图像信息获得的标记的行为的信息重构施加到所述表面的力。

5. 发明授权

US07659502B2 Optical tactile sensor 失效
标题翻译：光学触觉传感器
公开(公告)号：US07659502B2
公开(公告)日：2010-02-09
申请号：US10571370
申请日：2005-03-03
申请人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
发明人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
IPC分类号： G06M7/00 , H01L27/00 , G06F3/041
CPC分类号： G01L1/247 , G01L5/166 , G01L5/228
摘要： An optical tactile sensor and an image information integrating method capable of measuring large area force vector distribution are provided. The optical tactile sensor comprises a tactile section comprising a transparent elastic body (1) and a plurality of markers (3, 4) provided therein, and a plurality of imaging devices (6, 6) for obtaining a marker image by photographing the behavior of the markers when an object (5) contacts the tactile face (2) of the transparent elastic body (1). The method comprises a step of obtaining a partial image by photographing the partial regions A, B, C and D of the transparent resilient body (1) using the plurality of imaging devices (6, 6) such that each imaging device (6) has an overlapped photograph region (11), and a step of integrating the partial images obtained by each imaging device (6) such that the identical markers in the overlapped photograph region match.
摘要翻译：提供了一种能够测量大面积力矢量分布的光学触觉传感器和图像信息积分方法。光学触觉传感器包括一个包括透明弹性体（1）和设置在其中的多个标记（3,4）的触觉部分，以及多个成像装置（6,6），用于通过拍摄当物体（5）接触透明弹性体（1）的触觉面（2）时的标记。该方法包括通过使用多个成像装置（6,6）拍摄透明弹性体（1）的部分区域A，B，C和D来获得部分图像的步骤，使得每个成像装置（6）具有重叠照片区域（11），以及将由各成像装置（6）获得的部分图像进行积分的步骤，使得重叠照片区域中的相同标记符合。

6. 发明授权

US07420155B2 Optical tactile sensor and method of reconstructing force vector distribution using the sensor 失效
标题翻译：光学触觉传感器和使用传感器重建力矢量分布的方法
公开(公告)号：US07420155B2
公开(公告)日：2008-09-02
申请号：US10571576
申请日：2004-05-21
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G06M7/00 , G06F3/042
CPC分类号： G01L1/24 , B25J13/084 , G01L5/166 , G01L5/228
摘要： The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.
摘要翻译：本发明涉及一种能够在表面上的每个点处获得多个自由度的信息的触觉传感器。光学触觉传感器设置有感测部分和拍摄装置，感测部分包括透明弹性体和设置在弹性体内部的多组标记，每个标记组由多个彩色标记组成，具有组成不同标记组的标记，每组具有不同的颜色。弹性体具有任意的曲面。通过拍摄装置获得当物体接触到弹性体的曲面时的着色标记的行为作为标记的图像信息。该传感器还包括一个力向量分布重建装置，用于根据从标记的所述图像信息获得的标记的行为的信息重构施加到所述表面的力。

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