The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 02, 2008
Filed:
Sep. 10, 2004
Terukazu Mizota, Yamatokohriyama, JP;
Kazuto Kamiyama, Maebashi, JP;
Hiroyuki Kajimoto, Yokohama, JP;
Naoki Kawakami, Tokyo, JP;
Susumu Tachi, Tsukuba, JP;
Terukazu Mizota, Yamatokohriyama, JP;
Kazuto Kamiyama, Maebashi, JP;
Hiroyuki Kajimoto, Yokohama, JP;
Naoki Kawakami, Tokyo, JP;
Susumu Tachi, Tsukuba, JP;
Toudai TLO, Ltd., Tokyo, JP;
Abstract
The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.