AU2001282549A1 - Optical tactile sensor - Google Patents
Optical tactile sensorInfo
- Publication number
- AU2001282549A1 AU2001282549A1 AU2001282549A AU8254901A AU2001282549A1 AU 2001282549 A1 AU2001282549 A1 AU 2001282549A1 AU 2001282549 A AU2001282549 A AU 2001282549A AU 8254901 A AU8254901 A AU 8254901A AU 2001282549 A1 AU2001282549 A1 AU 2001282549A1
- Authority
- AU
- Australia
- Prior art keywords
- tactile sensor
- markers
- elastic body
- optical
- tactile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 230000003287 optical effect Effects 0.000 title abstract 4
- 239000003550 marker Substances 0.000 abstract 3
- 238000003384 imaging method Methods 0.000 abstract 2
- 239000003086 colorant Substances 0.000 abstract 1
- 238000001228 spectrum Methods 0.000 abstract 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
Abstract
The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section 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, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably; the marker groups have mutually different spatial arrangements. <IMAGE>
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-264407 | 2000-08-31 | ||
JP2000264407 | 2000-08-31 | ||
PCT/JP2001/007462 WO2002018893A1 (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor |
Publications (1)
Publication Number | Publication Date |
---|---|
AU2001282549A1 true AU2001282549A1 (en) | 2002-03-13 |
Family
ID=18751829
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
AU2001282549A Abandoned AU2001282549A1 (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor |
Country Status (12)
Country | Link |
---|---|
US (1) | US6909084B2 (en) |
EP (1) | EP1321753B1 (en) |
JP (1) | JP4100615B2 (en) |
KR (1) | KR100846305B1 (en) |
CN (1) | CN1264003C (en) |
AT (1) | ATE408809T1 (en) |
AU (1) | AU2001282549A1 (en) |
CA (1) | CA2419252C (en) |
DE (1) | DE60135861D1 (en) |
HK (1) | HK1056602A1 (en) |
RU (1) | RU2263885C2 (en) |
WO (1) | WO2002018893A1 (en) |
Families Citing this family (79)
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DE10106699C2 (en) * | 2001-02-14 | 2003-11-27 | Leica Microsystems | Touch sensor and device for protecting a protruding component |
US7505811B2 (en) | 2001-11-19 | 2009-03-17 | Dune Medical Devices Ltd. | Method and apparatus for examining tissue for predefined target cells, particularly cancerous cells, and a probe useful in such method and apparatus |
US20070255169A1 (en) * | 2001-11-19 | 2007-11-01 | Dune Medical Devices Ltd. | Clean margin assessment tool |
US8019411B2 (en) * | 2002-01-04 | 2011-09-13 | Dune Medical Devices Ltd. | Probes, systems, and methods for examining tissue according to the dielectric properties thereof |
US8116845B2 (en) * | 2005-08-04 | 2012-02-14 | Dune Medical Devices Ltd. | Tissue-characterization probe with effective sensor-to-tissue contact |
US7720532B2 (en) * | 2004-03-23 | 2010-05-18 | Dune Medical Ltd. | Clean margin assessment tool |
US8032211B2 (en) * | 2002-01-04 | 2011-10-04 | Dune Medical Devices Ltd. | Probes, systems, and methods for examining tissue according to the dielectric properties thereof |
US8721565B2 (en) * | 2005-08-04 | 2014-05-13 | Dune Medical Devices Ltd. | Device for forming an effective sensor-to-tissue contact |
US7809425B2 (en) * | 2003-07-24 | 2010-10-05 | Dune Medical Devices Ltd. | Method and apparatus for examining a substance, particularly tissue, to characterize its type |
JP4206057B2 (en) * | 2003-09-16 | 2009-01-07 | 株式会社東京大学Tlo | Force vector reconstruction method using optical tactile sensor |
US7420155B2 (en) * | 2003-09-16 | 2008-09-02 | Toudai Tlo, Ltd. | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
US7149973B2 (en) * | 2003-11-05 | 2006-12-12 | Sonic Foundry, Inc. | Rich media event production system and method including the capturing, indexing, and synchronizing of RGB-based graphic content |
JP4621827B2 (en) * | 2004-03-09 | 2011-01-26 | 財団法人名古屋産業科学研究所 | Optical tactile sensor, sensing method using optical tactile sensor, sensing system, object operation force control method, object operation force control device, object gripping force control device, and robot hand |
US7904145B2 (en) | 2004-03-23 | 2011-03-08 | Dune Medical Devices Ltd. | Clean margin assessment tool |
US9750425B2 (en) | 2004-03-23 | 2017-09-05 | Dune Medical Devices Ltd. | Graphical user interfaces (GUI), methods and apparatus for data presentation |
JP2006003137A (en) * | 2004-06-16 | 2006-01-05 | Toudai Tlo Ltd | Optical tactile sensor and information acquiring method in the same |
CA2603025C (en) * | 2005-03-29 | 2014-05-20 | Dune Medical Devices Ltd. | Electromagnetic sensors for tissue characterization |
CN1920477B (en) * | 2005-08-23 | 2011-04-06 | 阮刚 | Sensing method and device for deformation of contact surface |
JP4708979B2 (en) * | 2005-11-28 | 2011-06-22 | ニッタ株式会社 | Optical tactile sensor |
JP5013507B2 (en) * | 2006-06-29 | 2012-08-29 | 国立大学法人東北大学 | Tactile sensor using reflection image |
US8147423B2 (en) * | 2007-03-01 | 2012-04-03 | Dune Medical Devices, Ltd. | Tissue-characterization system and method |
SE531527C2 (en) * | 2007-10-01 | 2009-05-12 | Bioresonator Ab | Method and apparatus for unaffected material examination |
WO2009086836A1 (en) * | 2008-01-11 | 2009-07-16 | Danmarks Tekniske Universitet | A touch-sensitive device |
JP5174546B2 (en) * | 2008-06-16 | 2013-04-03 | Juki株式会社 | Button recognition mechanism and button supply device |
US8411140B2 (en) | 2008-06-19 | 2013-04-02 | Massachusetts Institute Of Technology | Tactile sensor using elastomeric imaging |
DE102008037861A1 (en) * | 2008-08-15 | 2010-03-18 | Siemens Aktiengesellschaft | Optical push button sensor |
JP2010224665A (en) * | 2009-03-19 | 2010-10-07 | Sony Corp | Light-tactility conversion system, and method for providing tactile feedback |
JP5549203B2 (en) * | 2009-12-01 | 2014-07-16 | セイコーエプソン株式会社 | Optical position detection device, hand device, and touch panel |
JP5549204B2 (en) * | 2009-12-01 | 2014-07-16 | セイコーエプソン株式会社 | Optical position detection device, hand device, and touch panel |
JP5551789B2 (en) * | 2009-12-03 | 2014-07-16 | ザ プロクター アンド ギャンブル カンパニー | Method for evaluating the force characteristics produced by the fiber tip |
US8823639B2 (en) * | 2011-05-27 | 2014-09-02 | Disney Enterprises, Inc. | Elastomeric input device |
WO2013016729A1 (en) | 2011-07-28 | 2013-01-31 | Massachusetts Institute Of Technology | Optical tactile sensor |
EP2600229A1 (en) * | 2011-11-30 | 2013-06-05 | Research In Motion Limited | Optical interference based user input device |
US8994694B2 (en) | 2011-11-30 | 2015-03-31 | Blackberry Limited | Optical interference based user input device |
FR2989829B1 (en) * | 2012-04-20 | 2014-04-11 | Commissariat Energie Atomique | PHOTOSENSITIVE TOUCH SENSOR |
KR101382287B1 (en) * | 2012-08-22 | 2014-04-08 | 현대자동차(주) | Apparatus and method for recognizing touching of touch screen by infrared light |
KR101371736B1 (en) * | 2012-08-22 | 2014-03-07 | 현대자동차(주) | Method for recognizing touching of touch screen |
TWI482953B (en) * | 2012-12-28 | 2015-05-01 | Univ Nat Chiao Tung | Pressure and shear force measurement device and method |
US10574944B2 (en) | 2013-03-08 | 2020-02-25 | Gelsight, Inc. | Continuous contact-based three-dimensional measurement |
US9245916B2 (en) | 2013-07-09 | 2016-01-26 | Rememdia LC | Optical positioning sensor |
DE102013017007B4 (en) * | 2013-10-14 | 2015-09-10 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Robot with a end manipulator arm with end effector and method for determining a force and torque input to an end effector of a robot |
LU92408B1 (en) * | 2014-03-21 | 2015-09-22 | Olivier Raulot | User gesture recognition |
FR3034053B1 (en) * | 2015-03-26 | 2017-03-17 | Continental Automotive France | MOBILE OR DEFORMABLE TOUCH PALLET SYSTEM FORMING A HAND-MACHINE INTERFACE ADAPTED ON A VEHICLE WHEEL |
US9557164B2 (en) * | 2015-04-15 | 2017-01-31 | General Electric Company | Data acquisition devices, systems and method for analyzing strain sensors and monitoring turbine component strain |
US9851196B2 (en) * | 2015-04-17 | 2017-12-26 | Rememdia LC | Sensor |
WO2017010824A1 (en) * | 2015-07-14 | 2017-01-19 | 한국생산기술연구원 | Head support and head support system |
FR3040090B1 (en) * | 2015-08-13 | 2019-06-14 | Museum National D'histoire Naturelle | FORCE SENSOR |
CN105318994B (en) * | 2015-11-30 | 2018-05-15 | 华南理工大学 | A kind of force measuring device based on image recognition |
US20180299972A1 (en) * | 2016-03-29 | 2018-10-18 | Saito Inventive Corp. | Input device and image display system |
TR201606363A2 (en) * | 2016-05-13 | 2017-11-21 | Sensobright Ind Llc | A multifunction detection system. |
CN106092382B (en) * | 2016-07-20 | 2018-09-11 | 山东大学 | A kind of touch sensor and detection method based on elastomer three-dimensional deformation |
JP6977991B2 (en) * | 2016-11-24 | 2021-12-08 | 株式会社齋藤創造研究所 | Input device and image display system |
WO2018235214A1 (en) * | 2017-06-21 | 2018-12-27 | 株式会社齋藤創造研究所 | Manipulator and robot |
CN108161994B (en) * | 2017-12-20 | 2020-07-10 | 清华大学 | Multi-modal touch sensing device |
KR102115437B1 (en) | 2018-02-07 | 2020-05-28 | 한국기계연구원 | Optical measuring apparatus |
US11226195B1 (en) * | 2018-06-27 | 2022-01-18 | United States Of America Represented By The Secretary Of The Air Force | Method and system for measuring strain in a 3D printed part |
CN109015763A (en) * | 2018-08-30 | 2018-12-18 | 清华大学 | A kind of multi-modal tactile sensor based on heat discoloration ink material |
CA3111989A1 (en) * | 2018-09-06 | 2020-03-12 | Gelsight, Inc. | Retrographic sensors |
US10562190B1 (en) * | 2018-11-12 | 2020-02-18 | National Central University | Tactile sensor applied to a humanoid robots |
GB2579846A (en) * | 2018-12-18 | 2020-07-08 | Univ Bristol | Improvements in or relating to tactile sensing |
GB201907744D0 (en) * | 2019-05-31 | 2019-07-17 | The Shadow Robot Company Ltd | Tactile sensor |
CN112097675A (en) | 2019-06-17 | 2020-12-18 | 香港科技大学 | Tactile sensor |
EP3995268A4 (en) * | 2019-07-04 | 2023-04-12 | FingerVision Co., Ltd. | Tactile sensor, tactile sensor system, and program |
CN110849516B (en) * | 2019-09-09 | 2021-07-02 | 南京邮电大学 | Photoelectric flexible touch sensor and manufacturing method thereof |
WO2021076697A1 (en) * | 2019-10-15 | 2021-04-22 | Massachusetts Institute Of Technology | Retrographic sensors with compact illumination |
WO2021081084A1 (en) * | 2019-10-21 | 2021-04-29 | The Regents Of The University Of California | Multi-directional high-resolution optical tactile sensors |
US11607816B2 (en) * | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
US11772262B2 (en) * | 2019-10-25 | 2023-10-03 | Dexterity, Inc. | Detecting slippage from robotic grasp |
CN111805562B (en) * | 2020-06-05 | 2023-03-10 | 清华大学 | Tactile sensor and robot |
JP6864401B1 (en) * | 2020-08-17 | 2021-04-28 | 株式会社SensAI | Tactile sensor |
CN112485140B (en) * | 2020-11-06 | 2022-02-18 | 浙江大学 | Fruit hardness sensor integrated on flexible finger |
WO2022132300A2 (en) * | 2020-12-15 | 2022-06-23 | Massachusetts Institute Of Technology | Retrographic sensors with fluorescent illumination |
KR20230109303A (en) * | 2022-01-13 | 2023-07-20 | 삼성전자주식회사 | Optical tactile sensor |
US20230251149A1 (en) * | 2022-02-04 | 2023-08-10 | Massachusetts Institute Of Technology | Flexible optical tactile sensor |
CN114659679A (en) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | Flexible tactile sensor |
CN114659460A (en) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | Device for collecting massage signals |
CN114681282A (en) * | 2022-04-12 | 2022-07-01 | 深圳市松果体机器人科技有限公司 | Handheld massage sensing equipment |
CN114659678A (en) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | Surface-shaped flexible touch sensor |
CN114910199B (en) * | 2022-05-09 | 2023-08-18 | 北京纳米能源与系统研究所 | Touch sensor, preparation method and information acquisition method |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4668861A (en) | 1984-12-12 | 1987-05-26 | The Regents Of The University Of California | Tactile sensor employing a light conducting element and a resiliently deformable sheet |
JPS61205831A (en) | 1985-03-08 | 1986-09-12 | Nippon Telegr & Teleph Corp <Ntt> | Matrix tactile sensation sensor |
US4599908A (en) | 1985-03-18 | 1986-07-15 | Sheridan Thomas B | Opto-mechanical touch sensor |
JPS62115308A (en) | 1985-11-14 | 1987-05-27 | Univ Osaka | Method and instrument for measuring strain distribution in real time |
JP2676040B2 (en) * | 1989-01-28 | 1997-11-12 | 清水建設株式会社 | In-plane displacement measurement method for concrete members |
JPH0629705B2 (en) | 1989-10-20 | 1994-04-20 | セントラル硝子株式会社 | Plate inspection method |
US5311779A (en) * | 1992-01-03 | 1994-05-17 | Inabagomu Co., Ltd. | Pressure-sensitive sensor |
JPH09257609A (en) | 1996-03-18 | 1997-10-03 | Mitsubishi Cable Ind Ltd | Optical fiber type tactile sensor |
US6089516A (en) * | 1998-12-11 | 2000-07-18 | Yates; Paul M. | Decorative cushion providing wide lateral movement support |
JP2000227371A (en) | 1999-02-05 | 2000-08-15 | Masahiko Matsubara | Face pressure distribution detector |
-
2001
- 2001-08-30 RU RU2003108731/28A patent/RU2263885C2/en not_active IP Right Cessation
- 2001-08-30 JP JP2002523568A patent/JP4100615B2/en not_active Expired - Lifetime
- 2001-08-30 KR KR1020037002118A patent/KR100846305B1/en not_active IP Right Cessation
- 2001-08-30 WO PCT/JP2001/007462 patent/WO2002018893A1/en active IP Right Grant
- 2001-08-30 CN CNB018147364A patent/CN1264003C/en not_active Expired - Fee Related
- 2001-08-30 AT AT01961195T patent/ATE408809T1/en not_active IP Right Cessation
- 2001-08-30 US US10/344,821 patent/US6909084B2/en not_active Expired - Fee Related
- 2001-08-30 AU AU2001282549A patent/AU2001282549A1/en not_active Abandoned
- 2001-08-30 DE DE60135861T patent/DE60135861D1/en not_active Expired - Lifetime
- 2001-08-30 EP EP01961195A patent/EP1321753B1/en not_active Expired - Lifetime
- 2001-08-30 CA CA2419252A patent/CA2419252C/en not_active Expired - Fee Related
-
2003
- 2003-11-22 HK HK03108540A patent/HK1056602A1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
CN1571920A (en) | 2005-01-26 |
KR20030040398A (en) | 2003-05-22 |
CA2419252C (en) | 2011-03-29 |
ATE408809T1 (en) | 2008-10-15 |
EP1321753B1 (en) | 2008-09-17 |
US6909084B2 (en) | 2005-06-21 |
JP4100615B2 (en) | 2008-06-11 |
HK1056602A1 (en) | 2004-02-20 |
EP1321753A4 (en) | 2006-05-17 |
US20030178556A1 (en) | 2003-09-25 |
RU2263885C2 (en) | 2005-11-10 |
DE60135861D1 (en) | 2008-10-30 |
KR100846305B1 (en) | 2008-07-16 |
WO2002018893A1 (en) | 2002-03-07 |
CN1264003C (en) | 2006-07-12 |
CA2419252A1 (en) | 2003-02-11 |
EP1321753A1 (en) | 2003-06-25 |
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