把持物体の動的触覚像取得とその処理

抄録

This paper focuses on acquisition methods for the contact force distributions acting on the high-resolution tactile sensors during the object handlings. The prototypes of tactile sensors equipped on the fingers are realized by a method of the light conductive plate, which is made close contact with a sensing surface consisting of soft sensing materials. As an object comes in contact with the tactile sensors on the parallel fingers by grasping it, contact patterns on the tactile sensors are taken as tactual images by CCD camera, which is set up at the light conductive plate underneath. Acquisitions of the tactual images by the tactile sensors can be carried out dynamically for the grasped object at pseudo video rate. For grasping a square pillar, as external forces are applied on the end of the object, tactual images through the tactile sensors are taken at the rate of 200 [ms] and its force vectors acting on the finger are induced. Orientations of the object like a stick are discriminated on the tactile sensors from the momentum of the displacement distribution. Finally, Gaussian curvature and mean curvature of the fundamental local shapes of the objects are estimated from the tactual images.