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    • 10. 发明公开
    • FORCE VECTOR RECONSTRUCTION METHOD USING OPTICAL TACTILE SENSOR
    • KRÄFTEVEKTOR-REKONSTRUKTIONSVERFAHREN DURCH VERWENDUNG EINES OPTISCHENBERÜHRUNGSS传感器
    • EP1666861A1
    • 2006-06-07
    • EP04787844.2
    • 2004-09-10
    • TOUDAI TLO, Ltd.
    • MIZOTA, TerukazuKAMIYAMA, KazutoKAJIMOTO, HiroyukiKAWAKAMI, NaokiTACHI, Susumu
    • G01L5/16G01L1/24
    • G01L1/241G01L1/247G01L5/226G01L5/228
    • 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.
    • 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而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向量的位置A的相邻区域A1的标记的行为有关的信息来计算力向量。