ロッドレンズ列の回帰反射現象を使った触覚イメージングシステム

概要

論文の詳細を見る
A novel tactile sensor system is presented. The system is composed of a white light source, an ITV camera system, a micro-computer with an image processing unit and a visualizing sheet which is made of rod lenses (0.25mm∿1mm in diameter) aligned in raft on a transparent plate. The light source, TV camera, visualizing sheet and an object to be touched are arranged like optical system for moire topography. The recurrent reflection associated with the visualizing sheet convertes a tactile image into optical one. Light illuminates the object through the visualizing sheet and is scattered from it. The scattered light reenters the visualizing sheet and passes through it in opposite direction and goes into the TV camera. Directivity of round-triped light is different depending upon how far the object exists from the surface of the visualizing sheet and how the object is illuminated. Two visualizing modes, positive and negative contrast mode, are available according to illuminating direction. The positive (negative) contrast mode forms an image in such a way that contacting (non-contacting) area is brighter than non-contacting (contacting) one. The sensor system discriminates a step difference less than 0.1mm in case of well-scattering object like a sheet of white paper. The sensor system has following features : (1) Simple structure, (2) High sesitivity, (3) High resolving power, (4) Sensing area as large as 50cm×50cm is available, (5) No hysteresis.