Feature detection with an image based compliant tactile sensor

Nagata, Kazuyuki; Ooki, M.; Kakikur, M.

doi:10.1109/iros.1999.812784

Cited by 21 publications

(6 citation statements)

References 5 publications

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“…The typical structure of the sensor with this method is shown at the top middle in Table 1. Typically, a transparent elastic body in which several markers are arranged is put in front of the camera [26,29,30,31,34,54,55,56,57,58,59,60,61,62,63,64,65]. In [28,66], a fluid-type touch pad was proposed.…”

Section: Physical Contact To Light Conversionmentioning

confidence: 99%

Tactile Image Sensors Employing Camera: A Review

Shimonomura

2019

Sensors

128

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A tactile image sensor employing a camera is capable of obtaining rich tactile information through image sequences with high spatial resolution. There have been many studies on the tactile image sensors from more than 30 years ago, and, recently, they have been applied in the field of robotics. Tactile image sensors can be classified into three typical categories according to the method of conversion from physical contact to light signals: Light conductive plate-based, marker displacement- based, and reflective membrane-based sensors. Other important elements of the sensor, such as the optical system, image sensor, and post-image analysis algorithm, have been developed. In this work, the literature is surveyed, and an overview of tactile image sensors employing a camera is provided with a focus on the sensing principle, typical design, and variation in the sensor configuration.

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Section: Physical Contact To Light Conversionmentioning

confidence: 99%

Tactile Image Sensors Employing Camera: A Review

Shimonomura

2019

Sensors

128

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“…With that point in mind, inexpensive vision-based sensors with simple configurations have been developed to measure flexible object deformations. For example, Nagata et al [14] developed a tactile sensor that can detect the shape of an object onto which it has been pressed by capturing the displacement of a pin aligned with a flexible object using a camera. In another example, Kamiyama et al [15] attached a marker to the surface of a flexible object and used a camera to capture the marker deformation.…”

Section: Related Workmentioning

confidence: 99%

Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces

2020

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In this paper, we propose a wearable tactile sensor for measuring the shape of micro-undulations on a hard surface. The proposed sensor has two layers. The inner one is a thin rubber layer into which a strain gauge is embedded that is formed around a user's finger. The outer layer is a flexible structure that consists of numerous pins on a flexible sheet. The shape of micro-undulations on an object surface can be measured when a user wearing the sensor traces the surface. The results of an experiment, in which we compare the cases with and without the flexible structure of the sensor, show that our proposed sensor is sufficiently accurate to measure the shape of micro-undulations due to its flexible structure, which contributes significantly to improving its signal-to-noise ratio. Publisher's NoteSpringer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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“…The (18)- (20) represent the relationship among the RGB values, the light intensity and the touchpad's depth.…”

Section: A Shape-sensingmentioning

confidence: 99%

“…Larger corner-to-corner distance of the chip enables more accurate estimation of the deformation, but expansion/contraction of the elastic body may cause shape estimation error. Nagata et al developed a sensor with regularly arrayed pins on the sensor surface [20]. The brightness of each dot captured by CCD camera enables to estimate object's shape based on the pin angles and intervals between the pins.…”

mentioning

confidence: 99%

Vision-Based Tactile Sensing and Shape Estimation Using a Fluid-Type Touchpad

Ito

Kim

Nagai

et al. 2012

IEEE Trans. Automat. Sci. Eng.

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In this paper, we propose a new method to estimate the shape and irregularity of objects by a vision-based tactile sensor, which consists of a CCD camera, LED lights, transparent acrylic plate, and a touchpad which consists of an elastic membrane filled with translucent red water. Intensities of red, green and blue bands of the traveling light in the touchpad are analyzed in this study to estimate the shape/irregularity of the object. The LED light traveling in the touchpad is scattered and absorbed by the red pigment in the fluid. The depth of the touchpad is estimated by using the intensity of the light obtained from the red-green-blue (RGB) values of the image, in consideration of the scattering and reflection effects. The reflection coefficient that depends on the shape of the membrane, was decoupled in the proposed formulation. The intensity of the traveling light is represented with the geometrical parameters of the touchpad surface. In order to reduce the approximation error caused by unmodeled factors, we compensate the error by using a function of the deformation of the membrane. The validation of the proposed method is confirmed through experimental results.Note to Practitioners-More reliable and sensitive skin of robot hands is realized by shape-sensing of objects in contact. With the shape-sensing, we can achieve a stable grip of robot hands avoiding protruding portion, and obtain reliable grip positions. With shape-deformation of flexible objects, we can avoid the grasped object (with robot fingers) by controlling the grasping force. Although various types of tactile sensors for robot hands have been developed, there have been few sensors that shape-sense of objects in contact. This paper suggests a three-dimensional shape-sensing method of object in contact. The sensor can be compact in size and structure, since we use only a single camera. Although we used many parameters, the proposed method allows the practitioners to implement the proposed method in an easy manner to their applications. We should evaluate how efficient the proposed method is for various applications. Future work includes implementation to the robot hands.

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Feature detection with an image based compliant tactile sensor

Cited by 21 publications

References 5 publications

Tactile Image Sensors Employing Camera: A Review

Tactile Image Sensors Employing Camera: A Review

Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces

Vision-Based Tactile Sensing and Shape Estimation Using a Fluid-Type Touchpad

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