CA2419252A1 - Optical tactile sensor - Google Patents

Optical tactile sensor Download PDF

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Publication number
CA2419252A1
CA2419252A1 CA002419252A CA2419252A CA2419252A1 CA 2419252 A1 CA2419252 A1 CA 2419252A1 CA 002419252 A CA002419252 A CA 002419252A CA 2419252 A CA2419252 A CA 2419252A CA 2419252 A1 CA2419252 A1 CA 2419252A1
Authority
CA
Canada
Prior art keywords
markers
sensor
marker
group
elastic body
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.)
Granted
Application number
CA002419252A
Other languages
French (fr)
Other versions
CA2419252C (en
Inventor
Susumu Tachi
Hiroyuki Kajimoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Todai TLO Ltd
Original Assignee
Center For Advanced Science And Technology Incubation, Ltd.
Susumu Tachi
Hiroyuki Kajimoto
Toudai Tlo, Ltd.
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 by Center For Advanced Science And Technology Incubation, Ltd., Susumu Tachi, Hiroyuki Kajimoto, Toudai Tlo, Ltd. filed Critical Center For Advanced Science And Technology Incubation, Ltd.
Publication of CA2419252A1 publication Critical patent/CA2419252A1/en
Application granted granted Critical
Publication of CA2419252C publication Critical patent/CA2419252C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • 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
    • 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

A tactile sensor capable of obtaining information of a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or an optical spectrum to an optical tactile sensor, the sensor comprising a tactile unit and an imaging means, wherein the tactile unit consists of a transparent elastic element and a plurality of marker groups provided in the elastic element, each marker group comprising many colored markers, markers comprising different marker groups have different colors in different marker groups, and the behaviors of colored markers when an object contacts the elastic element are shot by the imaging means. Preferably, the marker groups have mutually different spatial arrangements.

Claims (32)

1. An optical tactile sensor having a tactile portion and imaging means, said tactile portion comprising a transparent elastic body and a plurality of marker groups provided in said body, each marker group being comprised of a number of colored markers, with markers constituting different marker groups having different colors for each group, and behavior of colored markers being photographed by said imaging means when said elastic body is contacted by an object.
2. The sensor of claim 1, wherein said behavior of the markers comprises at least one of displacement, strain and inclination of the markers.
3. The sensor of claim 1 or 2, wherein said marker groups have different spatial arrangements from each other.
4. The sensor of claim 3, wherein said marker groups are laminated in the elastic body.
5. The sensor of claim 3, wherein said marker groups intersect each other in the elastic body.
6. The sensor of claim 4, wherein the markers constituting the marker groups are microscopic spherical particles and the spherical markers constituting the marker group for each layer have different colors from each other.
7. The sensor of claim 6, wherein said imaging means is arranged at a position opposite to a surface touched by the object, the layers are laminated away from said surface in said transparent elastic body, and the distribution density of markers for each marker group is made smaller away from the surface.
8. The sensor of claim 4, wherein the markers constituting the marker groups are extremely thin cylindrical or columnar bodies having microscopic cross sections, a number of markers are aligned in parallel to form each marker group, and the extremely thin markers constituting the marker group for each layer have different colors from each other.
9. The sensor of claim 8, wherein said extremely thin markers extend along an observation direction.
10. The sensor of claim 7, wherein the markers constituting the marker groups are thin strips, a number of strip markers are aligned in parallel to form each marker group, and the strip markers constituting each marker group have different colors from each other.
11. The sensor of claim 10, wherein said marker groups are two marker groups embedded in the elastic body.
12. The sensor of claim 11, wherein the strip markers for each marker group perpendicularly intersect each other.
13. The sensor of any one of claims 10 to 12, wherein side portions of the strip markers extend along an observation direction.
14. The sensor of claim 13, wherein the side portions of the strip markers have different colors for each side.
15. The sensor of any one of claims 10 to 12, wherein the side portions of the strip markers are inclined to an observation direction.
16. The sensor of claim 3, wherein the tactile portion comprises a plurality of plane markers arranged facing an observation direction, said plane markers are normally concealed by concealment markers, each plane marker is partitioned into a plurality of portions having different colors for each portion, and the partitioned portions having the same color constitute each marker group.
17. The sensor of claim 16, wherein said plane markers and said concealment markers are provided and spaced with each other in the elastic body, and an arrangement is made such that said plane markers are concealed by said concealment markers and not observed in a state where external force is not acting on the transparent elastic body.
18. The sensor of claim 3, wherein each marker group is a plane group comprised of a plurality of planes extending in the same direction, and extending directions and colors thereof are different between each marker group.
19. The sensor of claim 18, wherein planes constituting the plane group for each marker group are spacedly arranged with each other, each plane constituting one marker group is arranged between each plane constituting another marker group.
20. The sensor of claim 19, wherein edges of each plane are adjoining.
21. The sensor of any one of claims 18 to 20, wherein said tactile portion comprises two marker groups.
22. The sensor of claim 21, wherein the plane groups for respective marker groups comprise inclined surfaces that mutually extend in different directions with respect to the contact surface, and when viewing along an observation direction, all inclined surfaces extend in parallel to each other.
23. The sensor of any one of claims 18 to 20, wherein said tactile portion comprises three marker groups.
24. The sensor of any one of claims 18 to 23, wherein the planes constituting each marker group are adjoining with edges thereof to form stepped surfaces, said planes comprise a color filter that only allows a respective different color, said stepped surface is contacted by the object via a light guide film, there is no contact between the light guide and the stepped surfaces when there is no contact with the object, and contact between the light guide and the stepped surfaces starts when there is contact with the object such that white light filled inside the light guide passes through the color filters of the stepped surfaces and is imaged as colored light.
25. The sensor of claim 1, said sensor further comprising one or more light source.
26. The sensor of claim 1, wherein said imaging means is arranged at a position opposite to the side of the transparent elastic body contacted by the object.
27. The sensor of claim 1, wherein said markers are made of an elastic material.
28. The sensor of claim 1, wherein portions of the elastic body constitute colored markers.
29. A tactile portion for an optical tactile sensor, said portion comprising a transparent elastic body and a plurality of marker groups provided in said elastic body, and each marker group being comprised of a number of colored markers, with markers constituting different marker groups having different colors for each group.
30. The portion of claim 29, wherein said marker groups have different spatial arrangements from each other.
31. A sensing method using an optical tactile sensor having a tactile portion and imaging means, said tactile portion comprising a transparent elastic body and a plurality of marker groups provided in said body, each marker group being comprised of a number of colored markers, with markers constituting different marker groups having different colors for each group, said method comprising taking images of behavior of colored markers by said imaging means when said elastic body is contacted by an object and processing said images, and observing at least one of displacement, strain and inclination of markers to obtain tactile information about a plurality of degrees of freedom.
32. The method of claim 31, the method comprising selectively perceiving makers of a certain color from a plurality of colored markers having different colors.
CA2419252A 2000-08-31 2001-08-30 Optical tactile sensor Expired - Fee Related CA2419252C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2000264407 2000-08-31
JP2000-264407 2000-08-31
PCT/JP2001/007462 WO2002018893A1 (en) 2000-08-31 2001-08-30 Optical tactile sensor

Publications (2)

Publication Number Publication Date
CA2419252A1 true CA2419252A1 (en) 2003-02-11
CA2419252C CA2419252C (en) 2011-03-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA2419252A Expired - Fee Related CA2419252C (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)

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Also Published As

Publication number Publication date
JP4100615B2 (en) 2008-06-11
KR20030040398A (en) 2003-05-22
EP1321753A4 (en) 2006-05-17
CN1571920A (en) 2005-01-26
US20030178556A1 (en) 2003-09-25
DE60135861D1 (en) 2008-10-30
HK1056602A1 (en) 2004-02-20
US6909084B2 (en) 2005-06-21
CN1264003C (en) 2006-07-12
CA2419252C (en) 2011-03-29
EP1321753B1 (en) 2008-09-17
WO2002018893A1 (en) 2002-03-07
EP1321753A1 (en) 2003-06-25
RU2263885C2 (en) 2005-11-10
KR100846305B1 (en) 2008-07-16
ATE408809T1 (en) 2008-10-15
AU2001282549A1 (en) 2002-03-13

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