反射像を用いた触覚センサ

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tactile sensor allowing high-resolution sensing by making the best use of the resolution of a camera. <P>SOLUTION: The tactile sensor comprises elastically deformable transparent silicone rubber 1, an image pattern 2 as a real image, and the camera 3. The interface between the transparent silicone rubber 1 and the air forms a reflecting surface 4 owing to a refractive index distribution, thereby allowing the image of the image pattern 2 to be reflected by the reflecting surface 4 and to enter the camera 3. The deformation of the flexible reflecting surface 4 caused by an object deforming the transparent silicone rubber 1 is measured by observing the distortion of a reflected image. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

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