DE60135861D1 - Optischer tastsensor - Google Patents
Optischer tastsensorInfo
- Publication number
- DE60135861D1 DE60135861D1 DE60135861T DE60135861T DE60135861D1 DE 60135861 D1 DE60135861 D1 DE 60135861D1 DE 60135861 T DE60135861 T DE 60135861T DE 60135861 T DE60135861 T DE 60135861T DE 60135861 D1 DE60135861 D1 DE 60135861D1
- Authority
- DE
- Germany
- Prior art keywords
- markers
- elastic body
- optical
- tactile
- tactile sensor
- 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.)
- Expired - Lifetime
Links
- 239000003550 marker Substances 0.000 abstract 3
- 230000003287 optical effect Effects 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
-
- 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
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000264407 | 2000-08-31 | ||
PCT/JP2001/007462 WO2002018893A1 (fr) | 2000-08-31 | 2001-08-30 | Détecteur tactile optique |
Publications (1)
Publication Number | Publication Date |
---|---|
DE60135861D1 true DE60135861D1 (de) | 2008-10-30 |
Family
ID=18751829
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60135861T Expired - Lifetime DE60135861D1 (de) | 2000-08-31 | 2001-08-30 | Optischer tastsensor |
Country Status (12)
Country | Link |
---|---|
US (1) | US6909084B2 (de) |
EP (1) | EP1321753B1 (de) |
JP (1) | JP4100615B2 (de) |
KR (1) | KR100846305B1 (de) |
CN (1) | CN1264003C (de) |
AT (1) | ATE408809T1 (de) |
AU (1) | AU2001282549A1 (de) |
CA (1) | CA2419252C (de) |
DE (1) | DE60135861D1 (de) |
HK (1) | HK1056602A1 (de) |
RU (1) | RU2263885C2 (de) |
WO (1) | WO2002018893A1 (de) |
Families Citing this family (79)
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DE10106699C2 (de) * | 2001-02-14 | 2003-11-27 | Leica Microsystems | Berührungssensor und Vorrichtung zum Schutz eines hervorstehenden Bauteils |
US20070255169A1 (en) * | 2001-11-19 | 2007-11-01 | Dune Medical Devices Ltd. | Clean margin assessment tool |
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 |
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 |
US7720532B2 (en) * | 2004-03-23 | 2010-05-18 | Dune Medical Ltd. | Clean margin assessment tool |
US8721565B2 (en) * | 2005-08-04 | 2014-05-13 | Dune Medical Devices Ltd. | Device for forming an effective sensor-to-tissue contact |
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 |
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 |
US7420155B2 (en) * | 2003-09-16 | 2008-09-02 | Toudai Tlo, Ltd. | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
JP4206057B2 (ja) * | 2003-09-16 | 2009-01-07 | 株式会社東京大学Tlo | 光学式触覚センサを用いた力ベクトル再構成法 |
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 (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 |
US9750425B2 (en) | 2004-03-23 | 2017-09-05 | Dune Medical Devices Ltd. | Graphical user interfaces (GUI), methods and apparatus for data presentation |
US7904145B2 (en) | 2004-03-23 | 2011-03-08 | Dune Medical Devices Ltd. | Clean margin assessment tool |
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 |
CA2603025C (en) * | 2005-03-29 | 2014-05-20 | Dune Medical Devices Ltd. | Electromagnetic sensors for tissue characterization |
CN1920477B (zh) * | 2005-08-23 | 2011-04-06 | 阮刚 | 接触面形变的传感方法和装置 |
JP4708979B2 (ja) * | 2005-11-28 | 2011-06-22 | ニッタ株式会社 | 光学式触覚センサ |
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 |
US8147423B2 (en) * | 2007-03-01 | 2012-04-03 | Dune Medical Devices, Ltd. | Tissue-characterization system and method |
SE531527C2 (sv) * | 2007-10-01 | 2009-05-12 | Bioresonator Ab | Förfarande vid och en anordning för opåverkad materialundersökning |
US9342187B2 (en) * | 2008-01-11 | 2016-05-17 | O-Net Wavetouch Limited | Touch-sensitive device |
JP5174546B2 (ja) * | 2008-06-16 | 2013-04-03 | Juki株式会社 | ボタン認識機構およびボタン供給装置 |
EP2294375B8 (de) * | 2008-06-19 | 2024-02-14 | Massachusetts Institute of Technology | Tastsensor, der elastomerische bildgebung verwendet |
DE102008037861A1 (de) * | 2008-08-15 | 2010-03-18 | Siemens Aktiengesellschaft | Optischer Tastsensor |
JP2010224665A (ja) * | 2009-03-19 | 2010-10-07 | Sony Corp | 光触覚変換システム、及び触覚フィードバックの提供方法 |
JP5549204B2 (ja) * | 2009-12-01 | 2014-07-16 | セイコーエプソン株式会社 | 光学式位置検出装置、ハンド装置およびタッチパネル |
JP5549203B2 (ja) * | 2009-12-01 | 2014-07-16 | セイコーエプソン株式会社 | 光学式位置検出装置、ハンド装置およびタッチパネル |
CN102713558B (zh) * | 2009-12-03 | 2015-02-18 | 宝洁公司 | 用于评估由纤维尖端产生的力特性的方法 |
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 |
US8994694B2 (en) | 2011-11-30 | 2015-03-31 | Blackberry Limited | Optical interference based user input device |
EP2600229A1 (de) * | 2011-11-30 | 2013-06-05 | Research In Motion Limited | Optische interferenzbasierte Benutzereingabevorrichtung |
FR2989829B1 (fr) * | 2012-04-20 | 2014-04-11 | Commissariat Energie Atomique | Capteur tactile photosensible |
KR101382287B1 (ko) * | 2012-08-22 | 2014-04-08 | 현대자동차(주) | 적외선을 이용한 터치스크린 및 그 터치스크린의 터치 인식장치 및 방법 |
KR101371736B1 (ko) * | 2012-08-22 | 2014-03-07 | 현대자동차(주) | 터치스크린의 터치 인식방법 |
TWI482953B (zh) * | 2012-12-28 | 2015-05-01 | Univ Nat Chiao Tung | 壓力與剪力量測裝置及方法 |
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 (de) * | 2013-10-14 | 2015-09-10 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Roboter mit einem Endmanipulatorarm mit Endeffektor sowie Verfahren zur Bestimmung eines Kraft- und Drehmomenteintrages auf einen Endeffektor eines Roboters |
LU92408B1 (en) * | 2014-03-21 | 2015-09-22 | Olivier Raulot | User gesture recognition |
FR3034053B1 (fr) * | 2015-03-26 | 2017-03-17 | Continental Automotive France | Systeme de palette tactile mobile ou deformable formant une interface homme-machine adapte sur un volant de vehicule |
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 (ko) * | 2015-07-14 | 2017-01-19 | 한국생산기술연구원 | 헤드서포트 및 헤드서포트 시스템 |
FR3040090B1 (fr) | 2015-08-13 | 2019-06-14 | Museum National D'histoire Naturelle | Capteur de force |
CN105318994B (zh) * | 2015-11-30 | 2018-05-15 | 华南理工大学 | 一种基于图像识别的力测量装置 |
CN109074153A (zh) * | 2016-03-29 | 2018-12-21 | 斋藤创造研究所株式会社 | 一种输入装置及图像显示系统 |
TR201606363A2 (tr) * | 2016-05-13 | 2017-11-21 | Sensobright Ind Llc | Çok işlevli bir algılama sistemi. |
CN106092382B (zh) * | 2016-07-20 | 2018-09-11 | 山东大学 | 一种基于弹性体三维形变的触觉传感器及检测方法 |
JP6977991B2 (ja) * | 2016-11-24 | 2021-12-08 | 株式会社齋藤創造研究所 | 入力装置および画像表示システム |
JP6560443B2 (ja) * | 2017-06-21 | 2019-08-14 | 株式会社齋藤創造研究所 | マニピュレーターおよびロボット |
CN108161994B (zh) * | 2017-12-20 | 2020-07-10 | 清华大学 | 一种多模态触觉感知装置 |
KR102115437B1 (ko) | 2018-02-07 | 2020-05-28 | 한국기계연구원 | 광학식 측정 장치 |
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 (zh) * | 2018-08-30 | 2018-12-18 | 清华大学 | 一种基于感温变色油墨材料的多模态触觉感知装置 |
WO2020051458A1 (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 (zh) | 2019-06-17 | 2020-12-18 | 香港科技大学 | 触觉传感器 |
US11836823B2 (en) * | 2019-07-04 | 2023-12-05 | Fingervision Co., Ltd. | Tactile sensor, tactile sensor system, and program |
CN110849516B (zh) * | 2019-09-09 | 2021-07-02 | 南京邮电大学 | 一种光电式柔性触觉传感器及其制作方法 |
US11703321B2 (en) * | 2019-10-15 | 2023-07-18 | 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 |
US11772262B2 (en) * | 2019-10-25 | 2023-10-03 | Dexterity, Inc. | Detecting slippage from robotic grasp |
US11607816B2 (en) * | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
CN111805562B (zh) * | 2020-06-05 | 2023-03-10 | 清华大学 | 触觉传感器及机器人 |
JP6864401B1 (ja) * | 2020-08-17 | 2021-04-28 | 株式会社SensAI | 触覚センサ |
CN112485140B (zh) * | 2020-11-06 | 2022-02-18 | 浙江大学 | 一种集成于柔性手指的水果硬度传感器 |
US20240060837A1 (en) * | 2020-12-15 | 2024-02-22 | Massachusetts Institute Of Technology | Retrographic sensors with fluorescent illumination |
KR20230109303A (ko) * | 2022-01-13 | 2023-07-20 | 삼성전자주식회사 | 광학식 촉각 센서 |
US20230251149A1 (en) * | 2022-02-04 | 2023-08-10 | Massachusetts Institute Of Technology | Flexible optical tactile sensor |
CN114659460A (zh) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | 一种采集按摩信号的装置 |
CN114659678A (zh) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | 面形柔性触觉传感器 |
CN114681282A (zh) * | 2022-04-12 | 2022-07-01 | 深圳市松果体机器人科技有限公司 | 一种手持的按摩传感设备 |
CN114659679A (zh) * | 2022-04-12 | 2022-06-24 | 深圳市松果体机器人科技有限公司 | 柔性触觉传感器 |
CN114910199B (zh) * | 2022-05-09 | 2023-08-18 | 北京纳米能源与系统研究所 | 一种触觉传感器、制备方法及信息采集方法 |
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 (ja) | 1985-03-08 | 1986-09-12 | Nippon Telegr & Teleph Corp <Ntt> | マトリツクス触覚センサ |
US4599908A (en) | 1985-03-18 | 1986-07-15 | Sheridan Thomas B | Opto-mechanical touch sensor |
JPS62115308A (ja) | 1985-11-14 | 1987-05-27 | Univ Osaka | 実時間歪み分布測定方法および装置 |
JP2676040B2 (ja) * | 1989-01-28 | 1997-11-12 | 清水建設株式会社 | コンクリート部材の面内変位計測方法 |
JPH0629705B2 (ja) | 1989-10-20 | 1994-04-20 | セントラル硝子株式会社 | 板状体の歪検査方法 |
US5311779A (en) * | 1992-01-03 | 1994-05-17 | Inabagomu Co., Ltd. | Pressure-sensitive sensor |
JPH09257609A (ja) | 1996-03-18 | 1997-10-03 | Mitsubishi Cable Ind Ltd | 光ファイバ式触覚センサ |
US6089516A (en) * | 1998-12-11 | 2000-07-18 | Yates; Paul M. | Decorative cushion providing wide lateral movement support |
JP2000227371A (ja) | 1999-02-05 | 2000-08-15 | Masahiko Matsubara | 面圧力分布検出装置 |
-
2001
- 2001-08-30 AU AU2001282549A patent/AU2001282549A1/en not_active Abandoned
- 2001-08-30 US US10/344,821 patent/US6909084B2/en not_active Expired - Fee Related
- 2001-08-30 KR KR1020037002118A patent/KR100846305B1/ko not_active IP Right Cessation
- 2001-08-30 RU RU2003108731/28A patent/RU2263885C2/ru not_active IP Right Cessation
- 2001-08-30 CN CNB018147364A patent/CN1264003C/zh not_active Expired - Fee Related
- 2001-08-30 WO PCT/JP2001/007462 patent/WO2002018893A1/ja active IP Right Grant
- 2001-08-30 EP EP01961195A patent/EP1321753B1/de not_active Expired - Lifetime
- 2001-08-30 AT AT01961195T patent/ATE408809T1/de not_active IP Right Cessation
- 2001-08-30 DE DE60135861T patent/DE60135861D1/de not_active Expired - Lifetime
- 2001-08-30 JP JP2002523568A patent/JP4100615B2/ja 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/xx not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
JP4100615B2 (ja) | 2008-06-11 |
CA2419252A1 (en) | 2003-02-11 |
KR20030040398A (ko) | 2003-05-22 |
EP1321753A4 (de) | 2006-05-17 |
CN1571920A (zh) | 2005-01-26 |
US20030178556A1 (en) | 2003-09-25 |
HK1056602A1 (en) | 2004-02-20 |
US6909084B2 (en) | 2005-06-21 |
CN1264003C (zh) | 2006-07-12 |
CA2419252C (en) | 2011-03-29 |
EP1321753B1 (de) | 2008-09-17 |
WO2002018893A1 (fr) | 2002-03-07 |
EP1321753A1 (de) | 2003-06-25 |
RU2263885C2 (ru) | 2005-11-10 |
KR100846305B1 (ko) | 2008-07-16 |
ATE408809T1 (de) | 2008-10-15 |
AU2001282549A1 (en) | 2002-03-13 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |