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WO2023121355A1 - Capteur tactile optique - Google Patents

Capteur tactile optique Download PDF

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Publication number
WO2023121355A1
WO2023121355A1 PCT/KR2022/021091 KR2022021091W WO2023121355A1 WO 2023121355 A1 WO2023121355 A1 WO 2023121355A1 KR 2022021091 W KR2022021091 W KR 2022021091W WO 2023121355 A1 WO2023121355 A1 WO 2023121355A1
Authority
WO
WIPO (PCT)
Prior art keywords
marker
elastic part
tactile sensor
sensor module
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2022/021091
Other languages
English (en)
Korean (ko)
Inventor
정대환
박상규
홍현석
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of WO2023121355A1 publication Critical patent/WO2023121355A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/241—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet by photoelastic stress analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
    • G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected

Definitions

  • the present invention relates to an optical tactile sensor, preferably a tactile sensor used in a robotic hand.
  • Tactile sensors are useful for detecting, grasping and/or manipulating objects and are based on contact between the object and the sensor.
  • An optical tactile sensor is a tactile sensor that uses a camera to capture the shape and sliding of contact between an object and the sensor.
  • OTS optical tactile sensor
  • a camera-based optical tactile sensor measures displacement of an elastic part (e.g., gel) and a plurality of markers due to contact with an object with a camera, thereby measuring the force applied to the elastic part can do.
  • Optical tactile sensors in particular, as the need to stably hold or place various objects with the robot hand increases, the strength of the force is measured and various forces are applied to the robot hand to implement the contact information felt by the human finger when holding the object. There is an increasing need to measure the angle of
  • an elastic part eg, gel
  • a marker of an optical tactile sensor may have a limited dynamic range of measurable force.
  • An optical tactile sensor is intended to accurately measure the intensity of force and to measure the intensity of force even when the direction of the force is perpendicular to the optical tactile sensor module (normal force).
  • an optical tactile sensor module may include a transparent elastic part, a plurality of marker parts disposed inside the elastic part, and a camera unit that captures movement of the marker part when an object contacts one surface of the elastic part. Including, at least a portion of the marker portion may be configured to change shape by external pressure.
  • An optical tactile sensor module includes a plurality of elastic parts that are transparent and have different hardnesses, a plurality of marker parts disposed inside the plurality of elastic parts, and an object in contact with one surface of the elastic parts.
  • a camera unit for capturing the movement of the marker unit, wherein at least a portion of the marker unit is configured to change shape by external pressure
  • the plurality of elastic units include: a first elastic unit having a first hardness; and It may include a second elastic part located on the first elastic part and having a second hardness lower than the first hardness.
  • the marker part of the optical tactile sensor has a spherical shape and is made of a material that is easily deformable, and when an external force in a vertical direction is generated due to contact with an object, the shape and/or size of the marker part Depending on the change, the strength of the external force can be easily grasped.
  • the marker unit of the optical tactile sensor may be divided into a plurality of areas based on a portion (reference height) higher than the center.
  • the optical tactile sensor may include a plurality of elastic parts having different hardnesses, and a plurality of marker units may be disposed inside each elastic part.
  • the elastic part and the marker part having low hardness are drawn in and deformed, and when the strength of the external force is strong, the elastic part and the marker part having high hardness are also drawn in shape may change.
  • the user can precisely measure the strength of the force by analyzing motions and relative positional relationships of the plurality of elastic parts and the plurality of marker parts.
  • FIG. 1 is a side view schematically illustrating an optical tactile sensor module according to various embodiments of the present disclosure.
  • FIG. 2 is a view showing an elastic part viewed from a camera and a marker part disposed inside the elastic part according to various embodiments of the present disclosure.
  • FIG 3 is a side view schematically illustrating a change when an external force in a first direction acts on an optical tactile sensor module according to various embodiments of the present disclosure.
  • FIG. 4 illustrates an elastic part viewed from a camera and a marker part disposed inside the elastic part when an external force in a first direction is applied to the optical tactile sensor module according to various embodiments of the present disclosure.
  • FIG. 5 is a side view schematically illustrating an optical tactile sensor module including a marker unit divided into a plurality of regions according to other embodiments of the present disclosure.
  • FIG. 6 is an elastic part viewed from a camera and a marker part divided into a plurality of regions disposed inside the elastic part according to other embodiments of the present disclosure.
  • FIG. 7 is a side view schematically illustrating an optical tactile sensor module according to other embodiments of the present disclosure when an external force acts on the optical tactile sensor module.
  • FIG. 8 illustrates an elastic part viewed from a camera and a marker part divided into a plurality of regions disposed inside the elastic part when an external force in a first direction is applied to the optical tactile sensor module according to other embodiments of the present disclosure.
  • FIG. 9 illustrates an elastic part viewed from a camera and a marker part divided into a plurality of regions disposed inside the elastic part when an external force in a second direction is applied to the optical tactile sensor module according to other embodiments of the present disclosure.
  • FIG. 10 is a side view illustrating a plurality of elastic parts of an optical tactile sensor module and a plurality of marker parts disposed inside the elastic parts according to another embodiment (first embodiment) of the present disclosure.
  • FIG. 11 is a side view illustrating a plurality of elastic parts of an optical tactile sensor module and a plurality of marker parts disposed inside the elastic parts according to an embodiment (second embodiment) of the present disclosure.
  • FIG. 12 is a side view illustrating a plurality of elastic parts of an optical tactile sensor module and a plurality of marker parts disposed inside the elastic parts according to an embodiment (third embodiment) of the present disclosure.
  • FIG. 13 is a side view illustrating a plurality of elastic parts and a plurality of marker parts disposed inside the elastic parts of the optical tactile sensor module according to an embodiment (the fourth embodiment) of the present disclosure.
  • FIG. 14 is a side view illustrating a plurality of elastic parts of an optical tactile sensor module and a plurality of marker parts disposed inside the elastic parts according to an embodiment (fifth embodiment) of the present disclosure.
  • FIG. 15 is a side view illustrating a plurality of elastic parts of an optical tactile sensor module and a plurality of marker parts disposed inside the elastic parts according to an embodiment (a sixth embodiment) of the present disclosure.
  • Electronic devices may be devices of various types.
  • the electronic device may include, for example, a portable communication device (eg, a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a home appliance.
  • a portable communication device eg, a smart phone
  • a computer device e.g., a smart phone
  • a portable multimedia device e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a camera
  • a wearable device e.g., a smart bracelet
  • first, second, or first or secondary may simply be used to distinguish that component from other corresponding components, and may refer to that component in other respects (eg, importance or order) is not limited.
  • a (eg, first) component is said to be “coupled” or “connected” to another (eg, second) component, with or without the terms “functionally” or “communicatively.”
  • the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.
  • module used in various embodiments of this document may include a unit implemented by hardware, software, or firmware, and is interchangeably interchangeable with terms such as, for example, logic, logical blocks, components, or circuits.
  • a module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions.
  • the module may be implemented in the form of an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • a processor eg, a processor of a device (eg, an electronic device) may call at least one command among one or more instructions stored from a storage medium and execute it. This enables the device to be operated to perform at least one function according to the at least one command invoked.
  • the one or more instructions may include code generated by a compiler or code executable by an interpreter.
  • the device-readable storage medium may be provided in the form of a non-transitory storage medium.
  • 'non-temporary' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term refers to the case where data is stored semi-permanently in the storage medium. It does not discriminate when it is temporarily stored.
  • signals e.g., electromagnetic waves
  • the method according to various embodiments disclosed in this document may be included and provided in a computer program product.
  • Computer program products may be traded between sellers and buyers as commodities.
  • a computer program product is distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)), or through an application store (eg Play Store TM ) or between two user devices ( It can be distributed (eg downloaded or uploaded) online, directly between smartphones.
  • a device-readable storage medium eg compact disc read only memory (CD-ROM)
  • an application store eg Play Store TM
  • It can be distributed (eg downloaded or uploaded) online, directly between smartphones.
  • at least part of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium such as a manufacturer's server, an application store server, or a relay server's memory.
  • each component (eg, module or program) of the above-described components may include a single object or a plurality of entities, and some of the plurality of entities may be separately disposed from other components. .
  • one or more components or operations among the aforementioned corresponding components may be omitted, or one or more other components or operations may be added.
  • a plurality of components eg modules or programs
  • the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by a corresponding component of the plurality of components prior to the integration. .
  • operations performed by modules, programs, or other components are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations are executed in a different order, omitted, or , or one or more other operations may be added.
  • FIG. 1 is a side view schematically illustrating an optical tactile sensor module 100 according to various embodiments of the present disclosure.
  • FIG. 2 is a view showing the elastic part 110 viewed from the camera unit 130 and the marker part 120 disposed inside the elastic part 110 according to various embodiments of the present disclosure.
  • 3 is a side view schematically illustrating a change when an external force in a first direction (1) acts on the optical tactile sensor module 100 according to various embodiments of the present disclosure.
  • FIG. 4 illustrates the elastic part 110 and the elastic part viewed from the camera unit 130 when an external force in a first direction (1) is applied to the optical tactile sensor module 100 according to various embodiments of the present disclosure.
  • 110 is a marker unit 120 disposed inside.
  • the optical tactile sensor module 100 is used, for example, in a robot hand to implement contact information felt by a finger when a person grips an object, and can detect and respond to contact with an external object. 1 to 4 , the optical tactile sensor module 100 may include an elastic part 110, a marker part 120, a camera part 130, and an outer part 140.
  • 'X' may mean a length direction of the optical tactile sensor module 100 .
  • 'Y' may mean a width direction of the optical tactile sensor module 100 .
  • 'Z' may mean a thickness direction of the optical tactile sensor module 100 .
  • '+X' may mean a right direction of the optical tactile sensor module 100, and '-X' may mean a left direction of the optical tactile sensor module 100.
  • '+Y' may mean the front direction of the optical tactile sensor module 100, and '-Y' may mean the rear direction of the optical tactile sensor module 100.
  • '+Z' may mean an upward direction of the optical tactile sensor module 100, and '-Z' may mean a downward direction of the optical tactile sensor module 100.
  • the material of the optically transparent elastic part (eg, gel) 110 is, for example, a silicone resin such as silicone rubber, but the elastic body is another type of rubber or elastomer, such as It may be made of any other suitable optically transparent material. According to another embodiment, the optically transparent elastic part 110 may be transparent or translucent.
  • the marker unit 120 may be disposed inside the elastic unit 110 .
  • the elastic part 110 may include a contact surface 111 that an object contacts.
  • the marker unit 120 may be disposed adjacent to the contact surface 111 of the elastic unit 110 in order to respond sensitively to external pressure.
  • the marker unit 120 may include a plurality of markers arranged at regular intervals. A plurality of markers are spaced apart from the contact surface 111 by a predetermined distance and may be arranged side by side on the same plane (eg, the XY plane of FIG. 2 ).
  • a plurality of markers constituting the marker part 120 may be arranged at regular intervals along the X axis and the Y axis.
  • the marker unit 120 may be spherical (eg, the radius of FIGS. 1 and 2 : r 1 ).
  • the marker unit 120 is made of a material that is easily deformable, and may be made of, for example, an elastic material.
  • it may be made of the same material as the elastic part 110 .
  • the material of the marker unit 120 may not be particularly limited as long as the degree to which deformation of the elastic unit 110 is suppressed is sufficiently small.
  • the shape of the marker unit 120 may change according to the intensity of force caused by contact with an object.
  • the camera unit 130 may capture movements of the elastic unit 110 and the marker unit 120 when one surface of the elastic unit 110 is dug by external pressure.
  • the camera unit 130 is spaced apart from the elastic unit 110 at regular intervals, and may be located in a direction opposite to a portion receiving external pressure based on the elastic unit 110 .
  • the camera unit 130 may be a digital camera, that is, a camera for outputting image data as an electrical signal.
  • it may be a CCD camera.
  • the camera unit 130 of the present invention is not limited to a CCD camera, and for example, a digital camera using a C-MOS type image sensor may be used.
  • the fact that the marker unit 120 is identified according to color is one of the most important factors for increasing the intelligence of the sensor of the present invention, and a color filter can be mounted on the camera.
  • the outer portion 140 may be positioned on the elastic portion 110 of the optical tactile sensor module 100 .
  • the outer portion 140 may represent at least a part of the outer portion of the optical tactile sensor module 100 .
  • the outer portion 140 may be formed in a hemispherical shape, and at least a portion of the outer portion 140 may be disposed adjacent to the elastic portion 110 .
  • the camera may contact one part of the outer portion 140 . For example, it may be located at the center of the outer portion 140 .
  • an external force may be generated in the first direction 1.
  • the first direction (1) is, for example, a direction perpendicular to the contact surface 111 of the elastic part 110, and referring to FIG. 3, it may be an upward direction (eg, the +z direction in FIG. 3).
  • the elastic part 110 and the marker part 120 to which the external force acts may be introduced in the first direction (1) and deformed in shape.
  • the retracted marker unit 121 is flattened in the thickness direction (eg, the z-axis direction of FIG. 3), and when viewed from the top where the camera unit 130 is located, it can be transformed into a circular shape with a large radius. .
  • Movement of the marker unit 120 may include at least one of displacement, deformation, and inclination of the marker unit 120 . Accordingly, when viewed from the top where the camera unit 130 is located, the radius (r 2 ) of the retracted marker unit 121 may be greater than the radius (r 1 ) of the marker unit 120 to which no external force acts ( r 2 > r 1 ). The user can determine the strength of the external force according to the degree to which the radius of the retracted marker unit 121 photographed by the camera unit 130 increases. Conventional optical tactile sensor modules cannot easily grasp the intensity of the external force in the first direction (1), but the present invention measures the intensity of the external force in the first direction (1) according to the shape and/or size change of the marker unit 120. can be easily figured out.
  • FIG. 5 is a side view schematically illustrating an optical tactile sensor module 200 including a marker unit 220 divided into a plurality of regions according to other embodiments of the present disclosure.
  • FIG. 6 shows the elastic part 210 viewed from the camera unit 230 and the marker part 220 divided into a plurality of regions disposed inside the elastic part 210 according to other embodiments of the present disclosure.
  • 7 is a side view schematically illustrating the optical tactile sensor module 200 when an external force acts on the optical tactile sensor module 200 according to other embodiments of the present disclosure.
  • FIG. 8 illustrates the elastic part 210 and the inside of the elastic part 210 viewed from a camera when an external force in a first direction (1) is applied to the optical tactile sensor module 200 according to other embodiments of the present disclosure.
  • FIG. 9 illustrates the elastic part 210 and the inside of the elastic part 210 as viewed from a camera when an external force in a second direction (2) is applied to the optical tactile sensor module 200 according to other embodiments of the present disclosure. It is a marker unit 220 divided into a plurality of areas disposed on.
  • the optical tactile sensor module 200 may include an elastic part 210, a marker part 220, a camera part 230, and an outer part 240.
  • the configuration of the elastic part 210, the marker part 220, the camera part 230, and the outer part 240 of FIGS. 5 to 9 is the elastic part 110 and the marker part 120 of FIGS. 1 to 4 , the camera unit 130, and the outer portion 140 may have some or all of the same configurations.
  • 'X' may mean a length direction of the optical tactile sensor module 200 .
  • 'Y' may mean a width direction of the optical tactile sensor module 200 .
  • 'Z' may mean a thickness direction of the optical tactile sensor module 200 .
  • '+X' may mean a right direction of the optical tactile sensor module 200, and '-X' may mean a left direction of the optical tactile sensor module 200.
  • '+Y' may mean the front direction of the optical tactile sensor module 200, and '-Y' may mean the rear direction of the optical tactile sensor module 200.
  • '+Z' may mean an upward direction of the optical tactile sensor module 200, and '-Z' may mean a downward direction of the optical tactile sensor module 200.
  • the marker unit 220 may be divided into a plurality of regions.
  • the marker unit 220 may include a first area 221 that is lower than the reference height h and a second area 222 that is higher than the reference height h.
  • the reference height h may refer to a point spaced apart from the center of the marker unit 220 in an upward direction by a reference distance l 3 (eg, a +z direction in FIG. 5 ).
  • the reference distance l 3 may be smaller than the radius r 1 of the marker unit 220 (l 3 ⁇ r 1 ).
  • the second region 222 may be a portion separated from the top surface of the first region 221 by 'l 2 ' in an upward direction (eg, a +z direction in FIG. 5 ).
  • the first region 221 of the marker unit 220 may have a circular shape with a radius 'r 1 ' when viewed from the top where the camera unit 230 is located.
  • the second area 222 of the marker unit 220 may have a circular shape with 'l 2 ' smaller than the radius of the first area 221 (r 1 > l 2 ).
  • the marker unit 220 forms the second area 222 and the first area 221 of a circle having a radius of 'l 2 ' with a constant thickness 'r 1 -l
  • a donut-shaped first region 221 wrapped around 2 ' may be included.
  • the marker unit 220 may have a first color for the first area 221 and a second color for the second area 222 different from the first color in order to distinguish a plurality of areas.
  • the elastic part 210 may include a contact surface 211 with which an object contacts.
  • an external force may be generated in the first direction (1).
  • the first direction (1) is, for example, a direction perpendicular to the contact surface 211 of the elastic part 210, and referring to FIG. 7 , it may be an upward direction (eg, +Z direction in FIG. 7 ).
  • the elastic part 210 and the marker part 220 to which the external force acts may be introduced in the first direction (1) and deformed in shape.
  • the spherical marker unit 220 is flattened in the thickness direction (eg, the Z-axis direction of FIG.
  • the radius (r 2 ) of the drawn-in marker unit 220a may increase (r 2 > r 1 ).
  • the user can determine the strength of the external force according to the degree to which the radius of the retracted marker unit 220a photographed by the camera unit 230 increases.
  • the general optical tactile sensor module 200 cannot easily grasp the strength of the external force in the first direction (1), but the present invention can detect the intensity of the external force in the first direction (1) according to the shape and/or size change of the marker unit 220. The intensity of the external force can be easily grasped.
  • an external force may be generated in a second direction (2) inclined at a predetermined angle from the contact surface.
  • the external force generated in the second direction (2) may be a resultant force of a force in the first direction (1) and a force in a third direction (3) perpendicular to the first direction (1).
  • the external force in the second direction (2) is, for example, the force in the first direction (1) (eg, the +Z direction of FIG. 7) and the third direction (3) perpendicular to the first direction (1) (eg : +X direction of FIG. 7) may be a resultant force.
  • the elastic part 210 and the marker part 220 to which the external force acts may be pulled in in the second direction (2) and their shapes may be deformed.
  • the radius (r 2 ) of the marker unit 220a drawn in the second direction (2) is the radius of the marker unit 220 to which no external force acts ( r 1 ) (r 2 > r 1 ).
  • the spherical marker unit 220 may be flattened in the thickness direction (eg, the Z-axis direction of FIG. 7 ).
  • the user may grasp the strength of the external force according to the degree to which the radius of the first region 221a of the retracted marker unit 220a increases.
  • the center of the second area 222a of the retracted marker unit 220a is in the fourth direction 4 opposite to the third direction 3 based on the center of the marker unit 220 (example : can move in the -X direction of FIG. 7). Since the external force generated in the second direction (2) acts on the lower end of the marker unit 220, the second region 222 located at the upper end of the marker unit 220 is opposite to the third direction (3) in which the external force acts. can move in the fourth direction (4).
  • the user can grasp the strength of the external force according to the degree to which the radius of the retracted marker unit 220a photographed by the camera unit 130 has increased and the degree to which the center of the second area 222a has moved.
  • Conventional optical tactile sensor modules cannot easily grasp the intensity and angle of external force, but the present invention can easily determine the intensity and angle of external force according to changes in the shape and/or size of the marker unit 220 .
  • 10 is a side view illustrating a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to another embodiment of the present disclosure.
  • 11 illustrates a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to an embodiment (second embodiment) of the present disclosure.
  • 12 illustrates a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to an embodiment (third embodiment) of the present disclosure. It is a side view.
  • FIG. 13 illustrates a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to an embodiment (fourth embodiment) of the present disclosure. It is a side view. 14 illustrates a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to an embodiment (fifth embodiment) of the present disclosure. It is a side view. 15 illustrates a plurality of elastic parts 310 of an optical tactile sensor module and a plurality of marker parts 320 disposed inside the elastic parts 310 according to an embodiment (sixth embodiment) of the present disclosure. It is a side view.
  • Configurations of the elastic portion 310 and the marker portion 320 of FIGS. 10 to 15 may be partially or entirely the same as those of the elastic portion 210 and the marker portion 220 of FIGS. 5 to 8 . .
  • 'X' may mean a length direction of the optical tactile sensor module 300.
  • 'Y' may mean a width direction of the optical tactile sensor module 300 .
  • 'Z' may mean a thickness direction of the optical tactile sensor module 300 .
  • '+X' may mean a right direction of the optical tactile sensor module 300, and '-X' may mean a left direction of the optical tactile sensor module 300.
  • '+Y' may mean the front direction of the optical tactile sensor module 300, and '-Y' may mean the rear direction of the optical tactile sensor module 300.
  • '+Z' may mean an upward direction of the optical tactile sensor module 300, and '-Z' may mean a downward direction of the optical tactile sensor module 300.
  • the elastic part 310 may include a plurality of elastic parts 310 having different hardnesses.
  • a range of external force measurement can be expanded by using a plurality of elastic parts 310 having different hardnesses.
  • the plurality of elastic parts 310 include a first elastic part 311 having a first hardness, and a second elastic part (located on the first elastic part 311 and having a second hardness lower than the first hardness) 312) may be included.
  • the marker unit 320 may include a plurality of marker units 320 having different colors.
  • the plurality of marker parts 320 are disposed inside the first elastic part 311, and are disposed inside the first marker part 321 including the first color and the second elastic part 312, A second marker unit 322 including a second color different from the first color may be included.
  • the second elastic part 312 is positioned on the first elastic part 311 , and an object may contact an upper surface of the second elastic part 312 .
  • the second elastic part 312 may include a contact surface 313 that an object contacts.
  • the second elastic part 312 having a second hardness having a low hardness and the second marker part 322 are introduced and the shape is deformed.
  • the spherical second marker unit 322 may be flattened in the thickness direction (eg, the z-axis direction of FIG. 10 ).
  • the second elastic part 312 having a second hardness having a low hardness and the second marker part 322, as well as the second hardness having a high hardness
  • the shape of the first elastic part 311 having a hardness of 1 and the first marker part 321 may be drawn in and deformed.
  • the spherical first marker portion 321 may be flattened in the thickness direction. The user precisely measures the strength of force by analyzing the movement and relative positional relationship of the first elastic part 311, the second elastic part 312, the first marker part 321, and the second marker part 322. can do.
  • the plurality of elastic parts 310 may include an interface 314 between the first elastic part 311 and the second elastic part 312 .
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 eg, the upper surface of the first elastic part 311, the second elastic part 312)
  • the height of the boundary surface 314 may not be constant.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 may include irregularities, for example, a convex portion or a concave portion.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 is From the flat first surface 314a, in contact with one end of the first surface 314a, in contact with the second surface 314b perpendicular to the first surface 314a, in contact with one end of the second surface 314b, and in contact with the second surface It may include a third surface 314c perpendicular to (314b).
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 may be disposed side by side on the same XY plane.
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 are formed in the thickness direction (eg, in FIG. 11 ). z-axis direction) can be arranged on the same height.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 may include, for example, a convex portion or a concave portion.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 is From the flat first surface 314a, in contact with one end of the first surface 314a, in contact with the second surface 314b perpendicular to the first surface 314a, in contact with one end of the second surface 314b, and in contact with the second surface It may include a third surface 314c perpendicular to (314b).
  • the first marker unit 321 disposed inside the first elastic part 311 and the second marker unit 322 disposed inside the second elastic part 312 may be disposed on different xy planes.
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 are formed in the thickness direction (eg, in FIG. 11 ).
  • z-axis direction can be arranged on different heights.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 may have a constant angle ⁇ with respect to the ground.
  • the lower surface of 312 may have a constant angle ⁇ with respect to the ground.
  • the first surface 314d and the first surface 314d having a constant angle ⁇ in the right and lower directions from the ground (eg, between the +X direction and the -Z direction in FIG. 12)
  • It may include a second surface 314e having a constant angle ⁇ from the first surface 314d to the right and upward directions (eg, between the +X direction and the +Z direction of FIG. 12 ).
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 may be disposed side by side on the same xy plane.
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 are formed in the thickness direction (eg, in FIG. 11 ). z-axis direction) can be arranged on the same height.
  • the second marker unit 322 is not drawn in flatly in the first direction (1) even when an external force applied to the object acts in the first direction (1) perpendicular to the contact surface 313 of the elastic part 310, and is constant. It may be introduced in a direction parallel to one oblique surface having an angle ⁇ (eg, the first surface 314d or the second surface 314e).
  • the displacement angle is different depending on the position, angle, and/or strength of the external force, so that the external force acting in the first direction (1) perpendicular to the elastic part 310 and the external force having a constant angle with the contact surface 313 It can be directly distinguished, and it can be easy to measure the intensity.
  • the sensitivity of external force measurement can be improved by disposing the marker unit 320 on the inclined surface of the boundary surface 314 .
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 may include, for example, a convex portion or a concave portion.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 is From the flat first surface 314a, in contact with one end of the first surface 314a, in contact with the second surface 314b perpendicular to the first surface 314a, in contact with one end of the second surface 314b, and in contact with the second surface It may include a third surface 314c perpendicular to (314b).
  • the first marker unit 321 disposed inside the first elastic part 311 and the second marker unit 322 disposed inside the second elastic part 312 may be disposed on different xy planes.
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 are formed in the thickness direction (eg, in FIG. 11 ).
  • z-axis direction) can be arranged on different heights.
  • the first marker unit 321 disposed inside the first elastic unit 311 is not a portion adjacent to the interface 314 between the first elastic unit 311 and the second elastic unit 312, It can be arranged flat (on the same xy plane) on one surface in contact with the object and the adjacent part.
  • the second marker unit 322 disposed inside the second elastic unit 312 is flat on a portion not adjacent to the boundary surface 314 between the first elastic unit 311 and the second elastic unit 312 (the same on the xy plane).
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 may include, for example, a convex portion or a concave portion.
  • the boundary surface 314 between the first elastic part 311 and the second elastic part 312 is From the flat first surface 314a, in contact with one end of the first surface 314a, in contact with the second surface 314b perpendicular to the first surface 314a, in contact with one end of the second surface 314b, and in contact with the second surface It may include a third surface 314c perpendicular to (314b).
  • the first marker unit 321 disposed inside the first elastic part 311 and the second marker unit 322 disposed inside the second elastic part 312 may be disposed on different xy planes.
  • the first marker part 321 disposed inside the first elastic part 311 and the second marker part 322 disposed inside the second elastic part 312 are formed in the thickness direction (eg, in FIG. 11 ).
  • z-axis direction) can be arranged on different heights.
  • the first marker unit 321 disposed inside the first elastic unit 311 is not a portion adjacent to the interface 314 between the first elastic unit 311 and the second elastic unit 312, It may be disposed on a portion adjacent to one surface in contact with an object.
  • the second marker unit 322 disposed inside the second elastic unit 312 may be disposed adjacent to the boundary surface 314 between the first elastic unit 311 and the second elastic unit 312 .
  • the second marker unit 322 may be disposed between the convexly formed boundary surfaces 314 .
  • An optical tactile sensor module (eg, the optical tactile sensor module 100 of FIG. 1) according to various embodiments of the present disclosure includes a contact surface (eg, the contact surface 111 of FIG. 1 ) contacted by an external object, A transparent elastic part (eg, the elastic part 110 of FIG. 1), a marker part including a plurality of markers disposed inside the elastic part (eg, the marker part 120 of FIG. 1), and the external object A camera unit (e.g., the camera unit 130 of FIG. 1) that captures the movement of at least one of the plurality of markers when in contact with one surface of the elastic part, and at least a portion of each of the plurality of markers, It may be configured to change shape by external pressure.
  • a camera unit e.g., the camera unit 130 of FIG. 1 that captures the movement of at least one of the plurality of markers when in contact with one surface of the elastic part, and at least a portion of each of the plurality of markers, It may be configured to change shape by external pressure.
  • the elastic part may include an optically transparent material such as silicone resin or elastomer.
  • the movement of the plurality of markers may include at least one of displacement, deformation, and inclination of the plurality of markers.
  • the plurality of markers may be disposed adjacent to the contact surface.
  • the plurality of markers may be arranged spaced apart from the contact surface at regular intervals.
  • the marker unit may have a spherical shape.
  • the marker unit may include a material easily deformable such as an elastic material.
  • the elastic part and at least a portion of the marker part have the first can be drawn in either direction.
  • the marker unit introduced in the first direction by the external pressure may have a larger size than the marker unit when viewed from above where the camera unit is located.
  • the marker unit (eg, the marker unit 220 of FIG. 5 ) is divided into areas centered on a reference height, and the first area (eg, FIG. 5 ) is an area having a height lower than the reference height It may include a first area 221 of ), and a second area (eg, the second area 222 of FIG. 5 ) that is higher than the reference height.
  • the second area of the marker unit when viewed from the top of the marker unit, may be a circle having a smaller radius than the first area.
  • the first area of the marker unit when viewed from the top of the marker unit, may have a donut shape surrounding the second area with a constant thickness.
  • the first region may include a first color;
  • the second region may include a second color different from the first color.
  • the object when the object contacts the contact surface (eg, the contact surface 211 of FIG. 5 ) of the elastic part (eg, the elastic part 210 of FIG. 5 ), it is inclined at a specified angle from the contact surface.
  • the external pressure is generated in the second direction, at least a portion of the elastic part and the marker part may be drawn in in the second direction.
  • the second direction may be a resultant force of a first direction perpendicular to the contact surface and a third direction perpendicular to the first direction.
  • a first region of the marker unit introduced in the second direction by the external pressure may have a larger size than the marker unit when viewed from above where the camera unit is located.
  • the center of the second region of the marker unit introduced in the second direction by the external pressure is the direction opposite to the third direction from the center of the marker unit when viewed from the upper side where the camera unit is located. It can be located in 4 directions.
  • a plurality of transparent elastic parts eg, the elastic part (eg, the elastic part of FIG. 10) having different hardnesses
  • a marker portion including a plurality of markers disposed inside the plurality of elastic portions eg, the marker portion 320 of FIG. 10
  • at least a portion of the marker portion is shaped by external pressure.
  • a first elastic part eg, the first elastic part 311 of FIG. 10
  • a second elastic part eg, the second elastic part 312 of FIG. 10 ) having a second hardness lower than the hardness
  • the marker unit (eg, the marker unit 320 of FIG. 10 ) is disposed inside the first elastic part and includes a first color (eg, the first marker unit 320 of FIG. 10 ). 1 marker part 321) and a second marker part disposed inside the second elastic part and having a second color different from the first color (eg, the second marker part 322 of FIG. 10) can do.
  • the plurality of elastic parts may include an interface between the first elastic part and the second elastic part (eg, the boundary surface 314 of FIG. 10 ), and the height of the boundary surface may not be constant. .
  • optical tactile sensor e.g., the optical tactile sensor module 100 of FIG. 1
  • optical tactile sensor module 100 of FIG. 1 The optical tactile sensor (e.g., the optical tactile sensor module 100 of FIG. 1) of various embodiments of the present disclosure described above is not limited by the above-described embodiments and drawings, and various substitutions are possible within the technical scope of the present disclosure. , It will be clear to those skilled in the art that variations and changes are possible.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

Selon divers modes de réalisation de la présente invention, un module de capteur tactile optique comprend : une partie élastique transparente ; une pluralité de parties de marquage disposées à l'intérieur de la partie élastique ; et une partie caméra pour capturer le mouvement des parties de marquage lorsqu'un objet vient en contact avec une surface de la partie élastique, au moins certaines des parties de marquage pouvant se déformer en réponse à une pression externe.
PCT/KR2022/021091 2021-12-23 2022-12-22 Capteur tactile optique Ceased WO2023121355A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2021-0185906 2021-12-23
KR1020210185906A KR20230096431A (ko) 2021-12-23 2021-12-23 광학식 촉각 센서

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WO2023121355A1 true WO2023121355A1 (fr) 2023-06-29

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PCT/KR2022/021091 Ceased WO2023121355A1 (fr) 2021-12-23 2022-12-22 Capteur tactile optique

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WO (1) WO2023121355A1 (fr)

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KR102767057B1 (ko) * 2023-11-23 2025-02-14 한국생산기술연구원 광학식 촉각센서

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004191140A (ja) * 2002-12-10 2004-07-08 Sharp Corp 触覚センサ
JP2008197078A (ja) * 2007-02-08 2008-08-28 Nara Institute Of Science & Technology 触覚センサ及び触覚情報検出方法
CN105865668A (zh) * 2015-01-20 2016-08-17 北京纳米能源与系统研究所 压力传感成像阵列、设备及其制作方法
JP6864401B1 (ja) * 2020-08-17 2021-04-28 株式会社ＳｅｎｓＡＩ 触覚センサ
JP2021102267A (ja) * 2019-07-18 2021-07-15 株式会社齋藤創造研究所 マニピュレーターおよびロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004191140A (ja) * 2002-12-10 2004-07-08 Sharp Corp 触覚センサ
JP2008197078A (ja) * 2007-02-08 2008-08-28 Nara Institute Of Science & Technology 触覚センサ及び触覚情報検出方法
CN105865668A (zh) * 2015-01-20 2016-08-17 北京纳米能源与系统研究所 压力传感成像阵列、设备及其制作方法
JP2021102267A (ja) * 2019-07-18 2021-07-15 株式会社齋藤創造研究所 マニピュレーターおよびロボット
JP6864401B1 (ja) * 2020-08-17 2021-04-28 株式会社ＳｅｎｓＡＩ 触覚センサ

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