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

Satoshi Saga, Ryosuke Taira, Koichiro Deguchi

研究成果: Article査読

5 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号6678335
ページ(範囲)67-77
ページ数11
ジャーナルIEEE Transactions on Haptics
7
1
DOI
出版ステータスPublished - 2014 3

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • コンピュータ サイエンスの応用

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