JP2022550234A - 触覚センサ及び触覚センサの動作方法 - Google Patents
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- 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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
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- 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
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7264—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems
- A61B5/7267—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems involving training the classification device
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- 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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
- G01L5/008—Force sensors integrated in an article or a dummy workpiece
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
- G01L5/009—Force sensors associated with material gripping devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0261—Strain gauges
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Abstract
Description
-複数の応力センサにより、負荷パターンを出力値のセットに変換する。
-チップと分類スキームによって、負荷パターンの予め定義されたクラスに出力値を割り当てる。
10:チップ
100:応力センサ
100.1:第1応力センサ
100.2:第2応力センサ
100.3:第3応力センサ
100.4:第4応力センサ
111:分類スキーム
101:出力値のセット
110:メモリ
200:接触体
201:マウント
202:分類マウント
203:モールド
200a:検出面
300:対象物
5:検証用センサ
FS:静的触覚力
FS0:上方向の静的触覚力
FS1:前方向の静的触覚力
FS2:後方向の静的触覚力
FS3:右方向の静的触覚力
FS4:左方向の静的触覚力
FD:動的触覚力
FD1:前方向の動的触覚力
FD2:後方向の動的触覚力
Claims (10)
- 複数の応力センサ(100)と、
少なくとも1つの接触体(200)と、を備え、
前記応力センサ(100)は、前記接触体の検出面(200a)に印加された負荷パターンを検出するように設定されたことを特徴とする触覚センサ。 - 前記負荷パターンは、静的触覚力(FS)及び/又は動的触覚力(FD)からなり、
前記動的触覚力(FD)は、1Hz以上1000Hz以下の周波数で変化することを特徴とする請求項1に記載の触覚センサ(1)。 - 前記応力センサ(100)がチップ(10)に統合されていることを特徴とする請求項1又は2に記載の触覚センサ(1)。
- 前記チップ(10)は、分類スキーム(111)を含むメモリ(110)を備え、
前記分類スキーム(111)は、前記複数の応力センサ(100)の出力値(101)のセットを、予め定義された負荷パターンに割り当てることを特徴とする請求項3に記載の触覚センサ(1)。 - 前記分類スキーム(111)が、機械学習アルゴリズムによって生成されることを特徴とする請求項4に記載の触覚センサ(1)。
- 検出面(200a)を有する接触体(200)と、複数の応力センサ(100)と、チップ(10)とを備える触覚センサ(1)の動作方法であって、
-前記接触体(200)の前記検出面(200a)に負荷パターンが印加され、
-前記応力センサ(100)は、前記応力センサによって、前記負荷パターンを出力値(101)のセットに変換し、
-チップ(10)は、チップ(10)と分類スキーム(111)とにより、出力値(101)を前記負荷パターンの予め定義されたクラスに割り当てる
ことを特徴とする、触覚センサの動作方法。 - 前記検出面上の静的触覚力及び動的触覚力から生じる負荷パターンが、同じ前記分類スキームによって分類されることを特徴とする請求項6に記載の方法。
- 前記動的触覚力は、出力値(101)のスペクトル分析なしで分類されることを特徴とする請求項7に記載の方法。
- a)負荷パターンのクラスを予め定義し、
b)基準となる触覚センサを用いて、負荷パターンの予め定義された各クラスの代表的な測定を複数回行い、
c)出力値のセットを、負荷パターンの予め定義された各クラスにそれぞれ割り当てることによって、決定木アンサンブルを定義する
ことを特徴とする、分類スキームを生成する方法。 - 静的触覚力及び動的触覚力から生じる負荷パターンを分類するための分類スキームが生成されることを特徴とする請求項9に記載の方法。
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DE102019116923.2 | 2019-06-24 | ||
DE102019116923 | 2019-06-24 | ||
PCT/EP2020/067362 WO2020260205A1 (en) | 2019-06-24 | 2020-06-22 | Tactile sensor and method for operating a tactile sensor |
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JP2022550234A true JP2022550234A (ja) | 2022-12-01 |
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US (1) | US20220236120A1 (ja) |
EP (1) | EP3987264A1 (ja) |
JP (1) | JP2022550234A (ja) |
CN (1) | CN113994181A (ja) |
WO (1) | WO2020260205A1 (ja) |
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DE102021206134A1 (de) * | 2021-06-16 | 2022-12-22 | Robert Bosch Gesellschaft mit beschränkter Haftung | Stress- und/oder Dehnungsmesszelle für ein Stress- und/oder Dehnungsmesssystem |
CN114816063A (zh) * | 2022-02-16 | 2022-07-29 | 北京脉之语科技有限公司 | 触觉反馈装置及其使用的数据格式 |
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JP2017096782A (ja) * | 2015-11-25 | 2017-06-01 | 地方独立行政法人京都市産業技術研究所 | 触感検知システム及び触感検知体 |
JP2018116054A (ja) * | 2017-01-19 | 2018-07-26 | 国立大学法人 香川大学 | 触覚センサ、触覚測定装置、学習済みモデル、および識別装置 |
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KR20220024831A (ko) | 2022-03-03 |
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WO2020260205A1 (en) | 2020-12-30 |
US20220236120A1 (en) | 2022-07-28 |
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