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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fulltext
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Title ( eng ) |
Vision-based active sensor using a flexible beam
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Creator |
Kaneko Makoto
Kanayama Naoki
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Source Title |
IEEE-ASME Transactions on Mechatronics
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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.
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Keywords |
Contact force
contact point
stiffenss sensing
tactile sensor
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NDC |
Technology. Engineering [ 500 ]
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Language |
eng
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Resource Type | journal article |
Publisher |
IEEE
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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.
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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
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