Vision-based active sensor using a flexible beam

IEEE-ASME Transactions on Mechatronics Volume 6 Issue 1 Page 7-16 published_at 2001
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Title ( eng )
Vision-based active sensor using a flexible beam
Creator
Kaneko Makoto
Kanayama Naoki
Source Title
IEEE-ASME Transactions on Mechatronics
Volume 6
Issue 1
Start Page 7
End Page 16
Abstract
This paper proposes a new vision-based active sensing system, termed vision-based active antenna. This is composed of a camera, a flexible beam whose force-deformation characteristic is known, and an actuator for rotating the beam. The camera observes the beam deformation, including the contact information, while the beam is in contact with an object. By solving a set of equations based on the information acquired through the camera, the sensor can detect the contact location, the contact force, and the stiffness of the object, even though the contact point is hidden by occlusion. For two particular versions, we show some experimental results to verify the basic idea.
Keywords
Contact force
contact point
stiffenss sensing
tactile sensor
NDC
Technology. Engineering [ 500 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2001
Rights
Copyright (c) 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4435
[DOI] 10.1109/3516.914386
[DOI] http://dx.doi.org/10.1109/3516.914386 isVersionOf