JP5785670B2 - ロボットおよびデバイス用のマルチポイント高感度触覚センシングモジュール - Google Patents
ロボットおよびデバイス用のマルチポイント高感度触覚センシングモジュール Download PDFInfo
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- JP5785670B2 JP5785670B2 JP2015501631A JP2015501631A JP5785670B2 JP 5785670 B2 JP5785670 B2 JP 5785670B2 JP 2015501631 A JP2015501631 A JP 2015501631A JP 2015501631 A JP2015501631 A JP 2015501631A JP 5785670 B2 JP5785670 B2 JP 5785670B2
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Classifications
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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
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
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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
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
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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
- G01L1/24—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
- G01L1/242—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 the material being an optical fibre
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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
- G01L1/24—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
- G01L1/248—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 infrared
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
2 赤外線(又は通常)の光受信部
3 障害物からの反射光
4 光源/受信部と障害物の間の距離
5 光反射性障害物(システムを周囲環境から分離するセパレータ)
6 周囲環境
7 測定領域から離れて配置された光源からの光を伝達する光ファイバケーブル
8 測定領域から離れて配置された光源からの光を伝達する光ファイバケーブル
9 ウェブカメラ、類似のデジタルカムコーダ、デジタルカメラセンサ(CMOS、CCDなど)
10 個々に働く接続された光を分析するための光捕獲ピクセル
11 光源(複数の光源の集まり)
12 弾性材料
13 剛体領域(光ファイバケーブルの先端が弾性領域と合体するように配置されており、望まないレベルの貫入を防ぐ)
14 対象物が弾性領域に貫入したときの形状変形
15 光ファイバケーブル7、8からなるケーブルの束
16 センサによる編集画像(変形のない領域に対応)
17 センサによる編集画像(変形のある領域に対応)
18 光を伝達する光ファイバケーブルによる異なる測定領域に応じて、グループを形成する接続領域
19 光ビームを近づける光学システム(システムに使用される各材料は赤外線を伝達する)
20 光ビームが収束した束(互いに近付けられている)
Claims (6)
- ロボットおよびデバイス用のマルチポイント高感度触覚センシングモジュールであって、
光を反射する層(5)によって覆われた弾性材料(12)であって、層(5)は人間の皮膚をシミュレートした、弾性材料(12)と、
CMOS又はCCDの画像センサ(9)と、
少なくとも1つの光源(11)と、
複数の光ファイバケーブル(7)であって、一方側の先端は、層(5)の内側に配置されることで層(5)を介して周囲環境から分離され、他方側の先端は、光源(11)に接続された、光源(11)から層(5)へ光ビームを伝達する光ファイバケーブル(7)と、
複数の光ファイバケーブル(8)であって、一方側の先端は、層(5)に向けられながら層(5)の内側に配置されることで層(5)を介して周囲環境から分離され、他方側の先端は、画像センサ(9)に接続されることにより、画像センサ(9)の1つのピクセル(10)と個々にペアリングされた、層(5)から反射される光ビームを画像センサ(9)に伝達する光ファイバケーブル(8)と、
層(5)の変位に応じて、画像処理技術を用いて画像センサ(9)によって生成されるフォトフレーム内における、ファイバケーブルと接続された各ピクセルの光強度変化に基づき、層(5)に付与された個々の力を計算するプロセッサと、を備える、マルチポイント高感度触覚センシングモジュール。 - 弾性材料(12)の弾性は、人間の肉の弾性と同じである、請求項1に記載のマルチポイント高感度触覚センシングモジュール。
- 弾性材料(12)の弾性は、人間の肉の弾性よりも小さい、請求項1に記載のマルチポイント高感度触覚センシングモジュール。
- 光源(11)は、温度を検知するための赤外線の光源である、請求項1に記載のマルチポイント高感度触覚センシングモジュール。
- 弾性材料(12)の変形は、付与される力に比例する、請求項1に記載のマルチポイント高感度触覚センシングモジュール。
- 画像センサ(9)のピクセル(10)に伝達される光ビームを収束する光学システム(19)をさらに備える、請求項1に記載のマルチポイント高感度触覚センシングモジュール。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TR201208054A TR201208054A2 (tr) | 2012-07-11 | 2012-07-11 | Cihaz ve robotlara çok noktalı, yuksek hassasiyetli dokunma hissi sağlayan modül. |
TR2012/08054 | 2012-07-11 | ||
PCT/TR2012/000179 WO2014011126A1 (en) | 2012-07-11 | 2012-10-31 | Multi point, high sensitive tactile sensing module for robots and devices |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2015515621A JP2015515621A (ja) | 2015-05-28 |
JP2015515621A5 JP2015515621A5 (ja) | 2015-07-23 |
JP5785670B2 true JP5785670B2 (ja) | 2015-09-30 |
Family
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JP2015501631A Active JP5785670B2 (ja) | 2012-07-11 | 2012-10-31 | ロボットおよびデバイス用のマルチポイント高感度触覚センシングモジュール |
Country Status (8)
Country | Link |
---|---|
US (1) | US9030653B1 (ja) |
EP (1) | EP2807463B1 (ja) |
JP (1) | JP5785670B2 (ja) |
CA (1) | CA2896468C (ja) |
DK (1) | DK2807463T3 (ja) |
ES (1) | ES2633570T3 (ja) |
TR (1) | TR201208054A2 (ja) |
WO (1) | WO2014011126A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2908732T3 (es) * | 2016-05-13 | 2022-05-03 | Sensobright Ind Llc | Un sistema de detección práctica |
TR201606370A2 (ja) * | 2016-05-13 | 2017-11-21 | Sensobright Ind Llc | |
TR201606367A2 (tr) * | 2016-05-13 | 2017-11-21 | Sensobright Ind Llc | Bir dokunmatik panel. |
TR201606363A2 (tr) * | 2016-05-13 | 2017-11-21 | Sensobright Ind Llc | Çok işlevli bir algılama sistemi. |
TR201612947A2 (tr) | 2016-09-09 | 2018-03-21 | Utku Bueyueksahin | Biyomekatronik veri iletim sistemleri. |
CN109100989A (zh) * | 2018-08-31 | 2018-12-28 | 深圳前海达闼云端智能科技有限公司 | 一种机器人控制方法、装置、介质及电子设备 |
US10857684B2 (en) * | 2018-10-18 | 2020-12-08 | Toyota Research Institute, Inc. | Robots with perception-based fiber-optic tactile sensing and methods for providing the same |
CN114659553A (zh) * | 2022-02-28 | 2022-06-24 | 联想(北京)有限公司 | 一种检测方法、装置、设备及存储介质 |
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IL44525A (en) * | 1974-03-29 | 1976-08-31 | Univ Ramot | Method and apparatus for indicating or measuring contact pressure distribution over a surface |
US4599908A (en) * | 1985-03-18 | 1986-07-15 | Sheridan Thomas B | Opto-mechanical touch sensor |
DE19527957C1 (de) * | 1995-07-29 | 1996-08-22 | Karlsruhe Forschzent | Taktiler, optoelektronischer Drucksensor |
JPH09257609A (ja) * | 1996-03-18 | 1997-10-03 | Mitsubishi Cable Ind Ltd | 光ファイバ式触覚センサ |
DE19616952C1 (de) * | 1996-04-27 | 1997-01-23 | Karlsruhe Forschzent | Taktiler, optoelektronischer Drucksensor |
US6267014B1 (en) * | 2000-01-14 | 2001-07-31 | National Research Council Of Canada | Apparatus for sensing a load of pressure applied to a surface |
JP4621827B2 (ja) * | 2004-03-09 | 2011-01-26 | 財団法人名古屋産業科学研究所 | 光学式触覚センサ、光学式触覚センサを利用したセンシング方法、センシングシステム、物体操作力制御方法、物体操作力制御装置、物体把持力制御装置及びロボットハンド |
JP2006003137A (ja) * | 2004-06-16 | 2006-01-05 | Toudai Tlo Ltd | 光学式触覚センサ及び該センサにおける情報取得方法 |
JP2007125313A (ja) * | 2005-11-07 | 2007-05-24 | Nitta Ind Corp | エアマット装置及びその使用方法 |
US7701202B2 (en) * | 2006-11-02 | 2010-04-20 | Massachusetts Institute Of Technology | Compliant tactile sensor that delivers a force vector |
US8490501B2 (en) | 2008-05-29 | 2013-07-23 | Harmonic Drive Systems Inc. | Complex sensor and robot hand |
CN101645178B (zh) * | 2008-09-23 | 2011-05-04 | 上海理工大学 | 光纤列阵薄膜传感客流计数系统 |
MX2012005915A (es) * | 2009-12-03 | 2012-06-13 | Procter & Gamble | Metodo para la evaluacion de las propiedades de la fuerza generada por la punta de la fibra. |
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2012
- 2012-07-11 TR TR201208054A patent/TR201208054A2/xx unknown
- 2012-10-31 EP EP12829126.7A patent/EP2807463B1/en active Active
- 2012-10-31 CA CA2896468A patent/CA2896468C/en active Active
- 2012-10-31 DK DK12829126.7T patent/DK2807463T3/en active
- 2012-10-31 ES ES12829126.7T patent/ES2633570T3/es active Active
- 2012-10-31 JP JP2015501631A patent/JP5785670B2/ja active Active
- 2012-10-31 WO PCT/TR2012/000179 patent/WO2014011126A1/en active Application Filing
- 2012-10-31 US US14/391,613 patent/US9030653B1/en active Active
Also Published As
Publication number | Publication date |
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EP2807463A1 (en) | 2014-12-03 |
US20150109607A1 (en) | 2015-04-23 |
CA2896468C (en) | 2016-04-05 |
TR201208054A2 (tr) | 2012-12-21 |
WO2014011126A1 (en) | 2014-01-16 |
CA2896468A1 (en) | 2014-01-16 |
ES2633570T3 (es) | 2017-09-22 |
JP2015515621A (ja) | 2015-05-28 |
US9030653B1 (en) | 2015-05-12 |
EP2807463B1 (en) | 2017-04-19 |
DK2807463T3 (en) | 2017-07-17 |
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