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Precise Shape Reconstruction by ActivePattern in Total-Internal-Reflection-BasedTactile Sensor
March 2014 (vol. 7 no. 1)
pp. 67-77
Ryosuke Taira, CNC Software Laboratory, FANUC Corp., Oshino, Japan
Koichiro Deguchi, Graduate School of Information Science, Tohoku University, Sendai, Japan
Satoshi Saga, Faculty of Engineering, Information and Systems, University of Tsukuba, Sendai,
We are developing a total-internal-reflection-based tactile sensor in which the shape is reconstructed using an optical reflection. This sensor consists of silicone rubber, an image pattern, and a camera. It reconstructs the shape of the sensor surface from an image of a pattern reflected at the inner sensor surface by total internal reflection. In this study, we propose precise real-time reconstruction by employing an optimization method. Furthermore, we propose to use active patterns. Deformation of the reflection image causes reconstruction errors. By controlling the image pattern, the sensor reconstructs the surface deformation more precisely. We implement the proposed optimization and active-pattern-based reconstruction methods in a reflection-based tactile sensor, and perform reconstruction experiments using the system. A precise deformation experiment confirms the linearity and precision of the reconstruction.
Index Terms:
Image reconstruction,Surface reconstruction,Vectors,Shape,Robot sensing systems,Optical imaging,Optical sensors,active sensing,Optical sensing,tactile sensor,optimization
Ryosuke Taira, Koichiro Deguchi, Satoshi Saga, "Precise Shape Reconstruction by ActivePattern in Total-Internal-Reflection-BasedTactile Sensor," IEEE Transactions on Haptics, vol. 7, no. 1, pp. 67-77, March 2014, doi:10.1109/TOH.2013.61
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