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Precise Shape Reconstruction by Active Pattern in Total-Internal-Reflection-Based Tactile Sensor
March 2014 (vol. 7 no. 1)
pp. 67-77
Satoshi Saga, Fac. of Eng., Univ. of Tsukuba, Sendai, Japan
Ryosuke Taira, CNC Software Lab., FANUC Corp., Oshino, Japan
Koichiro Deguchi, Grad. Sch. of Inf. Sci., Tohoku Univ., Sendai, Japan
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
Citation:
Satoshi Saga, Ryosuke Taira, Koichiro Deguchi, "Precise Shape Reconstruction by Active Pattern in Total-Internal-Reflection-Based Tactile Sensor," IEEE Transactions on Haptics, vol. 7, no. 1, pp. 67-77, March 2014, doi:10.1109/TOH.2013.61
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