Tactile sensor and use thereof
US7591166B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 16, 2005 |
| Grant date | Sep 22, 2009 |
| Priority date | — |
| Expiry date | Oct 28, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01N19/02
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A tactile sensor of an embodiment of the present invention includes: a sensing section having an elastic member at a portion which contacts a measurement target; an image acquiring section for acquiring as image information the state of a contact surface of the measurement target and the elastic member, before and after application of an external force tangential to the contact surface; a deformation analyzing section for analyzing deformation information of the contact surface, based on the image information acquired by the image acquiring section; an external force detecting section for detecting the external force applied tangential to the contact surface; and an estimating section for estimating a slippage margin between the measurement target and the elastic member, based on (I) the deformation information of the contact surface, which information acquired by the deformation analyzing section, (II) the external force detected by the external force detecting section, and (III) an object constant of the elastic member. With this tactile sensor, slippage margin can be simply but accurately estimated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.