イベントカメラを用いた触覚画像センサによる力・モーメントの計測

抄録

In order to realize a tactile sensor with high temporal and spatial resolution, we proposed a tactile image sensor using an event-based camera. In an event-based camera, each pixel independently responds to changes in the brightness of the environment. Our sensor consists of a black elastic body with nine white markers and an event-based camera. Events are generated when the elastic body deforms and the markers move. We propose to measure instantaneous forces and moments using the event-based tactile image sensor. The maximum or integrated value of the events is used to calculate their estimated values. In addition, we can determine whether it is a shear direction or a rotation direction based on the movement direction of the marker.