GB2199134A - Rotatable tactile sensor - Google Patents
Rotatable tactile sensor Download PDFInfo
- Publication number
- GB2199134A GB2199134A GB08626753A GB8626753A GB2199134A GB 2199134 A GB2199134 A GB 2199134A GB 08626753 A GB08626753 A GB 08626753A GB 8626753 A GB8626753 A GB 8626753A GB 2199134 A GB2199134 A GB 2199134A
- Authority
- GB
- United Kingdom
- Prior art keywords
- cylinder
- tactile sensor
- rotatable
- supporting structure
- deformable sheet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 7
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A rotatable tactile sensor has a transparent cylinder (1) which is free to rotate about its axis within a supporting structure (2). A deformable sheet (4) is secured to one flat end surface of the cylinder by a collar (5). Light from sources (6) which passes through the cylindrical surface of the cylinder is scattered at points where the sheet is pressed against the cylinder by an object and is imaged by a lens (7) onto a CCD array (8). This arrangement permits the measurement of tactile forces on an object which is rotating about an axis that is perpendicular to the surface of the sheet. <IMAGE>
Description
ROTATABLE TACTILE SENSOR
This invention relates to a rotatable tactile sensor.
Tactile sensors consist of a sensing pad that generates signals which give a measure of the force distribution exerted on the pad by an object pressed against the pad i.e. the tactile forces. The force information from such sensors can be used for many purposes, for example, to determine the distribution of forces, record the surface features and orientation of an object.
A particular type of tactile sensor consists of a rigid transparent sheet of material in which light is being guided. When a deformable sheet of material is pressed against the transparent sheet by an object light is scattered at the points of contact. The scattered light which is imaged by a camera gives information relating to the tactile forces exerted by the object on the deformable material.
The sensing pads of tactile sensors are held in a fixed position on a supporting surface or structure. Tactile forces cannot, therefore, be recorded on an object that is required to rotate relative to the supporting surface or structure and about an axis perpendicular to the sensing pad surface.
According to the present invention there is provided a rotatable tactile sensor comprising of a rigid transparent solid cylinder of material which is free to rotate about its axis, a deformable sheet of material, a means of attaching the deformable material to one flat surface of the cylinder, injecting light into the cylinder through the curved surface of the cylinder during rotation and a nonrotating camera secured to a supporting structure that collects the light. scattered by the deformable material, that exits through the opposite flat surface of the cylinder.
A specific embodiment of the invention will now be described by way of example with reference to the accompanying drawing (Figure 1).
Referring to the drawing the rotatable tactile sensor comprises of a rigid transparent cylinder 1 which is free to rotate about its axis within a supporting structure 2.
Rotation is assisted by a ball race 3. A deformable sheet 4 is attached to the flat end surface of the cylinder by a retaining collar 5. Light sources 6 shine light into the cylinder through its curved surface as the cylinder rotates. Light that is scattered at points where the deformable sheet touches the cylinder is imaged by a lens 7 onto a CCD array 8. Apertures 9 and 10 are positioned just before the lens to reduce the collection of light scattered from the curved side walls of the cylinder and to increase the depth of focus, respectively.
Claims (7)
1. A rotatable tactile sensor including: a supporting structure; a rigid transparent cylinder which is free to rotate about its axis within the supporting structure; a deformable sheet attached to one flat surface of the cylinder; means for directing light into the cylinder through its curved surface during rotation thereof; means secured to said supporting structure for collecting and recording the light scattered by the deformable sheet.
2. A rotatable tactile sensor according to claim 1, wherein said deformable sheet is attached to the flat surface of the cylinder by means of a retaining collar.
3. A rotatable tactile sensor according to claim 1 or 2, wherein the cylinder is supported for rotation within the supporting structure by means of a ball race.
4. A rotatable tactile sensor according to any one of the preceding claims, wherein said light collecting means comprises a lens.
5. A rotatable tactile sensor according to claim 4, wherein a pair of apertures are positioned in front of the lens.
6. A rotatable tactile structure according to any one of the preceding claims, wherein said recording means is a CCD array.
7. A rotatable tactile structure constructed substantially as herein described with reference to and as illustrated in the accompanying drawing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8626753A GB2199134B (en) | 1986-11-10 | 1986-11-10 | Rotatable tactile sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8626753A GB2199134B (en) | 1986-11-10 | 1986-11-10 | Rotatable tactile sensor |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8626753D0 GB8626753D0 (en) | 1986-12-10 |
| GB2199134A true GB2199134A (en) | 1988-06-29 |
| GB2199134B GB2199134B (en) | 1990-08-08 |
Family
ID=10607047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8626753A Expired - Lifetime GB2199134B (en) | 1986-11-10 | 1986-11-10 | Rotatable tactile sensor |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2199134B (en) |
-
1986
- 1986-11-10 GB GB8626753A patent/GB2199134B/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| GB2199134B (en) | 1990-08-08 |
| GB8626753D0 (en) | 1986-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1157351B1 (en) | Apparatus and methods for optically imaging features on the surface of a hand | |
| GB1535467A (en) | Palm print identification | |
| GB2199134A (en) | Rotatable tactile sensor | |
| CA2018337A1 (en) | Register mark detection | |
| JPS53141030A (en) | Camera provided with focused point detector | |
| ATE42827T1 (en) | ANGLE MEASUREMENT DEVICE. | |
| JPH08332181A (en) | Living body positioning method, living body information measuring positioning apparatus, and living body information measuring apparatus | |
| JP4081187B2 (en) | Medical treatment and / or diagnostic apparatus having position detecting means | |
| JPS5521621A (en) | Facsimile unit | |
| US3885131A (en) | Air-bearing data transfer system | |
| TW347632B (en) | Image-recording system and method for image recording | |
| JPS6418001A (en) | Bright spot position detector | |
| JPS6488178A (en) | Detector for x-ray ct device | |
| GR3002098T3 (en) | Device for interferometrically analysing the deformations of a body | |
| JPS56115906A (en) | Detecting device for rotational phase | |
| JPH0444761U (en) | ||
| JPS5680710A (en) | Two-dimensional position detector | |
| JPS62186052U (en) | ||
| CN2308115Y (en) | Handheld Scanner with Walk Path Straightness Assist | |
| JPS5937689Y2 (en) | optical measuring device | |
| JPS57116233A (en) | Checking device for end surface of optical fiber | |
| JPH03779Y2 (en) | ||
| JP2821389B2 (en) | Ballpoint pen input device | |
| JPS5927465U (en) | acceleration detector | |
| JPS5394829A (en) | Optical information recorder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 746 | Register noted 'licences of right' (sect. 46/1977) | ||
| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 19921110 |