Force vector reconstruction method using optical tactile sensor
US7460964B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 10, 2004 |
| Grant date | Dec 2, 2008 |
| Priority date | — |
| Expiry date | Sep 10, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L5/228
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.