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:
Sep. 22, 2009
Filed:
Jun. 16, 2005
Jun Ueda, Ikoma, JP;
Yutaka Ishida, Nara, JP;
Tsukasa Ogasawara, Kyoto, JP;
Abstract
A tactile sensor of an embodiment of the present invention includes: a sensing section having an elastic member at a portion which contacts a measurement target; an image acquiring section for acquiring as image information the state of a contact surface of the measurement target and the elastic member, before and after application of an external force tangential to the contact surface; a deformation analyzing section for analyzing deformation information of the contact surface, based on the image information acquired by the image acquiring section; an external force detecting section for detecting the external force applied tangential to the contact surface; and an estimating section for estimating a slippage margin between the measurement target and the elastic member, based on (I) the deformation information of the contact surface, which information acquired by the deformation analyzing section, (II) the external force detected by the external force detecting section, and (III) an object constant of the elastic member. With this tactile sensor, slippage margin can be simply but accurately estimated.