Precise shape reconstruction by activepattern in total-internal-reflection- based tactile sensor

Satoshi Saga, Ryosuke Taira, Koichiro Deguchi

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

We are developing a total-internal-reflection-based tactile sensor in which the shape is reconstructed using an optical reflection. This sensor consists of silicone rubber, an image pattern, and a camera. It reconstructs the shape of the sensor surface from an image of a pattern reflected at the inner sensor surface by total internal reflection. In this study, we propose precise real-time reconstruction by employing an optimization method. Furthermore, we propose to use active patterns. Deformation of the reflection image causes reconstruction errors. By controlling the image pattern, the sensor reconstructs the surface deformation more precisely. We implement the proposed optimization and active-pattern-based reconstruction methods in a reflection-based tactile sensor, and perform reconstruction experiments using the system. A precise deformation experiment confirms the linearity and precision of the reconstruction.

Original languageEnglish
Article number6678335
Pages (from-to)67-77
Number of pages11
JournalIEEE Transactions on Haptics
Volume7
Issue number1
DOIs
Publication statusPublished - 2014 Mar

Keywords

  • Optical sensing
  • active sensing
  • optimization
  • tactile sensor

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Science Applications

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