WO2002018893A1 - Détecteur tactile optique - Google Patents
Détecteur tactile optique Download PDFInfo
- Publication number
- WO2002018893A1 WO2002018893A1 PCT/JP2001/007462 JP0107462W WO0218893A1 WO 2002018893 A1 WO2002018893 A1 WO 2002018893A1 JP 0107462 W JP0107462 W JP 0107462W WO 0218893 A1 WO0218893 A1 WO 0218893A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- marker
- tactile sensor
- markers
- group
- elastic body
- Prior art date
Links
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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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
- Gyroscopes (AREA)
- Measuring Fluid Pressure (AREA)
- Pressure Sensors (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Glass Compositions (AREA)
- Electrochromic Elements, Electrophoresis, Or Variable Reflection Or Absorption Elements (AREA)
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2419252A CA2419252C (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor |
EP01961195A EP1321753B1 (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor |
KR1020037002118A KR100846305B1 (ko) | 2000-08-31 | 2001-08-30 | 광학식 촉각센서 |
JP2002523568A JP4100615B2 (ja) | 2000-08-31 | 2001-08-30 | 光学式触覚センサ |
DE60135861T DE60135861D1 (de) | 2000-08-31 | 2001-08-30 | Optischer tastsensor |
AU2001282549A AU2001282549A1 (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor |
US10/344,821 US6909084B2 (en) | 2000-08-31 | 2001-08-30 | Optical tactile sensor having a transparent elastic tactile portion |
HK03108540A HK1056602A1 (en) | 2000-08-31 | 2003-11-22 | Optical tactile sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-264407 | 2000-08-31 | ||
JP2000264407 | 2000-08-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002018893A1 true WO2002018893A1 (fr) | 2002-03-07 |
Family
ID=18751829
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/007462 WO2002018893A1 (fr) | 2000-08-31 | 2001-08-30 | Détecteur tactile optique |
Country Status (12)
Country | Link |
---|---|
US (1) | US6909084B2 (ja) |
EP (1) | EP1321753B1 (ja) |
JP (1) | JP4100615B2 (ja) |
KR (1) | KR100846305B1 (ja) |
CN (1) | CN1264003C (ja) |
AT (1) | ATE408809T1 (ja) |
AU (1) | AU2001282549A1 (ja) |
CA (1) | CA2419252C (ja) |
DE (1) | DE60135861D1 (ja) |
HK (1) | HK1056602A1 (ja) |
RU (1) | RU2263885C2 (ja) |
WO (1) | WO2002018893A1 (ja) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005029027A1 (ja) * | 2003-09-16 | 2005-03-31 | Toudai Tlo, Ltd. | 光学式触覚センサを用いた力ベクトル再構成法 |
WO2005085785A1 (ja) * | 2004-03-09 | 2005-09-15 | Nagoya Industrial Science Research Institute | 光学式触覚センサ、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、ロボットハンド |
WO2005124305A1 (ja) * | 2004-06-16 | 2005-12-29 | Toudai Tlo, Ltd. | 光学式触覚センサ |
JP2007147443A (ja) * | 2005-11-28 | 2007-06-14 | Nitta Ind Corp | 光学式触覚センサ |
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 |
JP2008008746A (ja) * | 2006-06-29 | 2008-01-17 | Univ Of Tokyo | 反射像を用いた触覚センサ |
JP2009297347A (ja) * | 2008-06-16 | 2009-12-24 | Juki Corp | ボタン認識機構およびボタン供給装置 |
US8629987B2 (en) | 2009-12-01 | 2014-01-14 | Seiko Epson Corporation | Optical-type position detecting device, hand apparatus, and touch panel |
JP2014017000A (ja) * | 2008-01-11 | 2014-01-30 | O-Net Wavetouch Limited | 接触感応装置 |
JP2018088254A (ja) * | 2016-03-29 | 2018-06-07 | 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 |
JP2018088240A (ja) * | 2016-11-24 | 2018-06-07 | 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 |
WO2018235214A1 (ja) * | 2017-06-21 | 2018-12-27 | 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 |
JP2019526089A (ja) * | 2016-05-13 | 2019-09-12 | センソブライト・インダストリーズ・リミテッド・ライアビリティ・カンパニーSensobright Industries, Llc | マルチファンクションセンシングシステム |
CN114402183A (zh) * | 2020-08-17 | 2022-04-26 | 汇顶科技(香港)有限公司 | 触觉传感器 |
Families Citing this family (65)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
US8721565B2 (en) * | 2005-08-04 | 2014-05-13 | Dune Medical Devices Ltd. | Device for forming an effective sensor-to-tissue contact |
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 |
WO2006103665A2 (en) * | 2005-03-29 | 2006-10-05 | Dune Medical Devices Ltd. | Electromagnetic sensors for tissue characterization |
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 |
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 |
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 |
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 |
EP1740102A4 (en) * | 2004-03-23 | 2012-02-15 | Dune Medical Devices Ltd | EVALUATION TOOL FOR CLEAN EDGES |
CN1920477B (zh) * | 2005-08-23 | 2011-04-06 | 阮刚 | 接触面形变的传感方法和装置 |
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 |
EP2294375B8 (en) | 2008-06-19 | 2024-02-14 | Massachusetts Institute of Technology | Tactile sensor using elastomeric imaging |
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 |
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 |
JP5551789B2 (ja) * | 2009-12-03 | 2014-07-16 | ザ プロクター アンド ギャンブル カンパニー | 繊維先端により生じる力特性を評価するための方法 |
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 (en) * | 2011-11-30 | 2013-06-05 | Research In Motion Limited | Optical interference based user input device |
FR2989829B1 (fr) * | 2012-04-20 | 2014-04-11 | Commissariat Energie Atomique | Capteur tactile photosensible |
KR101371736B1 (ko) * | 2012-08-22 | 2014-03-07 | 현대자동차(주) | 터치스크린의 터치 인식방법 |
KR101382287B1 (ko) * | 2012-08-22 | 2014-04-08 | 현대자동차(주) | 적외선을 이용한 터치스크린 및 그 터치스크린의 터치 인식장치 및 방법 |
TWI482953B (zh) * | 2012-12-28 | 2015-05-01 | Univ Nat Chiao Tung | 壓力與剪力量測裝置及方法 |
CN105392722B (zh) | 2013-03-08 | 2017-06-09 | 胶视公司 | 基于接触的连续三维测量 |
US9245916B2 (en) | 2013-07-09 | 2016-01-26 | Rememdia LC | Optical positioning sensor |
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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 |
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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 |
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 |
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 |
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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 |
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WO2021081084A1 (en) * | 2019-10-21 | 2021-04-29 | The Regents Of The University Of California | Multi-directional high-resolution optical tactile sensors |
US11607816B2 (en) | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
US11772262B2 (en) | 2019-10-25 | 2023-10-03 | Dexterity, Inc. | Detecting slippage from robotic grasp |
CN111805562B (zh) * | 2020-06-05 | 2023-03-10 | 清华大学 | 触觉传感器及机器人 |
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 |
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US20230251149A1 (en) * | 2022-02-04 | 2023-08-10 | Massachusetts Institute Of Technology | Flexible optical tactile sensor |
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 |
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 |
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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 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61205831A (ja) * | 1985-03-08 | 1986-09-12 | Nippon Telegr & Teleph Corp <Ntt> | マトリツクス触覚センサ |
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 |
JPH02198306A (ja) * | 1989-01-28 | 1990-08-06 | Shimizu Corp | コンクリート部材の面内変位計測方法 |
JPH03135704A (ja) * | 1989-10-20 | 1991-06-10 | Central Glass Co Ltd | 板状体の歪検査方法 |
JP2000227371A (ja) * | 1999-02-05 | 2000-08-15 | Masahiko Matsubara | 面圧力分布検出装置 |
Family Cites Families (5)
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 |
US4599908A (en) * | 1985-03-18 | 1986-07-15 | Sheridan Thomas B | Opto-mechanical touch sensor |
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 |
-
2001
- 2001-08-30 CA CA2419252A patent/CA2419252C/en not_active Expired - Fee Related
- 2001-08-30 DE DE60135861T patent/DE60135861D1/de not_active Expired - Lifetime
- 2001-08-30 EP EP01961195A patent/EP1321753B1/en not_active Expired - Lifetime
- 2001-08-30 WO PCT/JP2001/007462 patent/WO2002018893A1/ja active IP Right Grant
- 2001-08-30 RU RU2003108731/28A patent/RU2263885C2/ru not_active IP Right Cessation
- 2001-08-30 JP JP2002523568A patent/JP4100615B2/ja not_active Expired - Lifetime
- 2001-08-30 US US10/344,821 patent/US6909084B2/en not_active Expired - Fee Related
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Cited By (24)
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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 |
WO2005029027A1 (ja) * | 2003-09-16 | 2005-03-31 | Toudai Tlo, Ltd. | 光学式触覚センサを用いた力ベクトル再構成法 |
US7420155B2 (en) | 2003-09-16 | 2008-09-02 | Toudai Tlo, Ltd. | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
US7460964B2 (en) | 2003-09-16 | 2008-12-02 | Toudai Tlo, Ltd. | Force vector reconstruction method using optical tactile sensor |
US7707001B2 (en) | 2004-03-09 | 2010-04-27 | Nagoya Industrial Science Research Institute | Control of object operating force, object gripping force and robot hands |
WO2005085785A1 (ja) * | 2004-03-09 | 2005-09-15 | Nagoya Industrial Science Research Institute | 光学式触覚センサ、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、ロボットハンド |
JP2005257343A (ja) * | 2004-03-09 | 2005-09-22 | Nagoya Industrial Science Research Inst | 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 |
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 |
WO2005124305A1 (ja) * | 2004-06-16 | 2005-12-29 | Toudai Tlo, Ltd. | 光学式触覚センサ |
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JP2007147443A (ja) * | 2005-11-28 | 2007-06-14 | Nitta Ind Corp | 光学式触覚センサ |
JP2008008746A (ja) * | 2006-06-29 | 2008-01-17 | Univ Of Tokyo | 反射像を用いた触覚センサ |
JP2014017000A (ja) * | 2008-01-11 | 2014-01-30 | O-Net Wavetouch Limited | 接触感応装置 |
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US8629987B2 (en) | 2009-12-01 | 2014-01-14 | Seiko Epson Corporation | Optical-type position detecting device, hand apparatus, and touch panel |
JP2018088254A (ja) * | 2016-03-29 | 2018-06-07 | 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 |
JP2019526089A (ja) * | 2016-05-13 | 2019-09-12 | センソブライト・インダストリーズ・リミテッド・ライアビリティ・カンパニーSensobright Industries, Llc | マルチファンクションセンシングシステム |
JP2018088240A (ja) * | 2016-11-24 | 2018-06-07 | 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 |
JP2021180019A (ja) * | 2016-11-24 | 2021-11-18 | 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 |
JP7209310B2 (ja) | 2016-11-24 | 2023-01-20 | 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 |
WO2018235214A1 (ja) * | 2017-06-21 | 2018-12-27 | 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 |
JPWO2018235214A1 (ja) * | 2017-06-21 | 2019-07-04 | 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 |
CN114402183A (zh) * | 2020-08-17 | 2022-04-26 | 汇顶科技(香港)有限公司 | 触觉传感器 |
CN114402183B (zh) * | 2020-08-17 | 2024-03-08 | 汇顶科技(香港)有限公司 | 触觉传感器 |
Also Published As
Publication number | Publication date |
---|---|
KR20030040398A (ko) | 2003-05-22 |
US6909084B2 (en) | 2005-06-21 |
HK1056602A1 (en) | 2004-02-20 |
EP1321753A1 (en) | 2003-06-25 |
EP1321753A4 (en) | 2006-05-17 |
CA2419252C (en) | 2011-03-29 |
JP4100615B2 (ja) | 2008-06-11 |
US20030178556A1 (en) | 2003-09-25 |
AU2001282549A1 (en) | 2002-03-13 |
CA2419252A1 (en) | 2003-02-11 |
EP1321753B1 (en) | 2008-09-17 |
CN1571920A (zh) | 2005-01-26 |
DE60135861D1 (de) | 2008-10-30 |
KR100846305B1 (ko) | 2008-07-16 |
ATE408809T1 (de) | 2008-10-15 |
RU2263885C2 (ru) | 2005-11-10 |
CN1264003C (zh) | 2006-07-12 |
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