1-206 主曲率を直接計測する音響触覚系

概要

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This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters : the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the non-linearity exists between TOF and the parameters defining the surface. Avoiding the difficulty, the proposed sensing system utilizing TOFs for both single and double reflections.
一般社団法人日本機械学会の論文
2002-11-14