TACTILE SENSOR AND SIGNAL PROCESSING METHOD FOR A TACTILE SENSOR
First Claim
1. A signal processing method for a tactile sensor, comprising:
- applying a tactile sensor having a tactile surface and elementary sensors for three dimensional force sensing and arranged along the tactile surface, wherein sensing is carried out by reading signals of the elementary sensors, and wherein for each elementary sensor, force components measured along three spatial axes normal to each other are determined,generating three force maps from the respective force components along the same axis, wherein the three force maps are evaluated, andjointly evaluating the results of the three evaluations of the three force maps wherein the generation of each of the force maps is carried out such that the force components along the same axis are coded in an image, and the evaluation of the force maps is carried out by image recognition.
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Abstract
The invention is a signal processing method for a tactile sensor, said tactile sensor having a tactile surface and elementary sensors (10) being suitable for three dimensional force sensing and being arranged along the tactile surface, wherein sensing is carried out by reading signals of the elementary sensors (10). For each elementary sensor (10), force components (Tx, Ty, Sn) measured along three spatial axes normal to each other are determined, three force maps are generated from the respective force components (Tx, Ty, Sn) along the same axis, the three force maps are evaluated, and then the results of the three evaluations are jointly evaluated. The invention also relates to a tactile sensor having a tactile surface and elementary sensors (10) suitable for three dimensional force sensing and arranged along the tactile surface. The inventive tactile sensor comprises sensor units consisting of four elementary sensors (10) arranged in the corner points of a square.
24 Citations
17 Claims
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1. A signal processing method for a tactile sensor, comprising:
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applying a tactile sensor having a tactile surface and elementary sensors for three dimensional force sensing and arranged along the tactile surface, wherein sensing is carried out by reading signals of the elementary sensors, and wherein for each elementary sensor, force components measured along three spatial axes normal to each other are determined, generating three force maps from the respective force components along the same axis, wherein the three force maps are evaluated, and jointly evaluating the results of the three evaluations of the three force maps wherein the generation of each of the force maps is carried out such that the force components along the same axis are coded in an image, and the evaluation of the force maps is carried out by image recognition. - View Dependent Claims (9, 10, 11, 12, 13, 14, 16, 17)
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2-8. -8. (canceled)
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15. A tactile sensor, comprising:
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a tactile surface and elementary sensors for three dimensional force sensing and arranged along the tactile surface, and sensor units including four elementary sensors arranged in corner points of a square; wherein the sides of the square are shorter than a minimum thickness of an object to be gripped.
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Specification