イベントベース触覚画像センサを用いた力計測

抄録

We have proposed a tactile image sensor employing event camera to realize tactile sensing with both high spatial and high temporal resolution. The event-based camera detects temporal changes of intensity in each pixel and generates events. Our sensor consists of a black elastomer which has 361 white markers inside and the event-based camera. Event outputs generated when the elastomer deforms and markers move. In this study, we propose force measurement using the event-based tactile image sensor. The normal force and friction force were estimated based on accumulation of event outputs. Also, friction coefficient was estimated.