JPWO2021001992A1 - - Google Patents

Info

Publication number
JPWO2021001992A1
JPWO2021001992A1 JP2021529656A JP2021529656A JPWO2021001992A1 JP WO2021001992 A1 JPWO2021001992 A1 JP WO2021001992A1 JP 2021529656 A JP2021529656 A JP 2021529656A JP 2021529656 A JP2021529656 A JP 2021529656A JP WO2021001992 A1 JPWO2021001992 A1 JP WO2021001992A1
Authority
JP
Japan
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.)
Granted
Application number
JP2021529656A
Other versions
JP7345902B2 (ja
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2021001992A1 publication Critical patent/JPWO2021001992A1/ja
Priority to JP2023135633A priority Critical patent/JP2023157985A/ja
Application granted granted Critical
Publication of JP7345902B2 publication Critical patent/JP7345902B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/001—Industrial image inspection using an image reference approach
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G01B11/165—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by means of a grating deformed by the object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manipulator (AREA)
JP2021529656A 2019-07-04 2019-07-04 触覚センサ、触覚センサシステム及びプログラム Active JP7345902B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023135633A JP2023157985A (ja) 2019-07-04 2023-08-23 触覚センサ、触覚センサシステム及びプログラム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/026650 WO2021001992A1 (ja) 2019-07-04 2019-07-04 触覚センサ、触覚センサシステム及びプログラム

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023135633A Division JP2023157985A (ja) 2019-07-04 2023-08-23 触覚センサ、触覚センサシステム及びプログラム

Publications (2)

Publication Number Publication Date
JPWO2021001992A1 true JPWO2021001992A1 (ja) 2021-01-07
JP7345902B2 JP7345902B2 (ja) 2023-09-19

Family

ID=74100757

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2021529656A Active JP7345902B2 (ja) 2019-07-04 2019-07-04 触覚センサ、触覚センサシステム及びプログラム
JP2023135633A Pending JP2023157985A (ja) 2019-07-04 2023-08-23 触覚センサ、触覚センサシステム及びプログラム

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2023135633A Pending JP2023157985A (ja) 2019-07-04 2023-08-23 触覚センサ、触覚センサシステム及びプログラム

Country Status (6)

Country Link
US (1) US11836823B2 (ja)
EP (1) EP3995268A4 (ja)
JP (2) JP7345902B2 (ja)
KR (2) KR102702506B1 (ja)
CN (1) CN114072260A (ja)
WO (1) WO2021001992A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2605423B (en) * 2021-03-31 2023-09-27 Ocado Innovation Ltd Tactile Sensor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005177977A (ja) * 2003-11-25 2005-07-07 Matsushita Electric Works Ltd ロボットハンドの制御装置
JP2007518966A (ja) * 2003-09-16 2007-07-12 株式会社東京大学Ｔｌｏ 光学式触覚センサ及び該センサを用いた力ベクトル分布再構成法
JP2009285737A (ja) * 2008-05-27 2009-12-10 Univ Of Tokyo 入力インタフェース
JP2010221358A (ja) * 2009-03-24 2010-10-07 Toyota Industries Corp ロボットハンド用撮像装置内蔵フィンガ
EP3290167A1 (de) * 2016-09-01 2018-03-07 J. Schmalz GmbH Handhabungsvorrichtung und verfahren zur überwachung eines handhabungsvorgangs

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5013507B1 (ja) * 1970-07-27 1975-05-20
WO1984003855A1 (en) 1983-04-04 1984-10-11 Siemens Ag 2-d pressure imaging system
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
US4599908A (en) * 1985-03-18 1986-07-15 Sheridan Thomas B Opto-mechanical touch sensor
JPH07128163A (ja) 1993-11-08 1995-05-19 Fuji Electric Co Ltd 触覚センサ
JP3047021B1 (ja) 1999-04-05 2000-05-29 工業技術院長 触覚センサ
US6321605B1 (en) * 2000-01-14 2001-11-27 National Research Council Of Canada Surface load and pressure sensing apparatus
KR100846305B1 (ko) * 2000-08-31 2008-07-16 가부시키가이샤 도쿄다이가쿠 티엘오 광학식 촉각센서
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
JP5013507B2 (ja) 2006-06-29 2012-08-29 国立大学法人東北大学 反射像を用いた触覚センサ
EP2294375B8 (en) * 2008-06-19 2024-02-14 Massachusetts Institute of Technology Tactile sensor using elastomeric imaging
KR101586665B1 (ko) * 2014-10-28 2016-01-19 한국기계연구원 접촉면 계측이 가능한 유체형 촉각센서
EP3643459A4 (en) * 2017-06-21 2020-12-16 Saito Inventive Corp. MANIPULATOR AND ROBOT

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007518966A (ja) * 2003-09-16 2007-07-12 株式会社東京大学Ｔｌｏ 光学式触覚センサ及び該センサを用いた力ベクトル分布再構成法
JP2005177977A (ja) * 2003-11-25 2005-07-07 Matsushita Electric Works Ltd ロボットハンドの制御装置
JP2009285737A (ja) * 2008-05-27 2009-12-10 Univ Of Tokyo 入力インタフェース
JP2010221358A (ja) * 2009-03-24 2010-10-07 Toyota Industries Corp ロボットハンド用撮像装置内蔵フィンガ
EP3290167A1 (de) * 2016-09-01 2018-03-07 J. Schmalz GmbH Handhabungsvorrichtung und verfahren zur überwachung eines handhabungsvorgangs

Also Published As

Publication number Publication date
US20220245750A1 (en) 2022-08-04
KR102702506B1 (ko) 2024-09-04
CN114072260A (zh) 2022-02-18
JP2023157985A (ja) 2023-10-26
US11836823B2 (en) 2023-12-05
KR20220027142A (ko) 2022-03-07
JP7345902B2 (ja) 2023-09-19
EP3995268A4 (en) 2023-04-12
KR20240117012A (ko) 2024-07-30
EP3995268A1 (en) 2022-05-11
WO2021001992A1 (ja) 2021-01-07

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