Tactile sensing method and system

• US 6,990,435 B2
• Filed: 10/01/2003
• Issued: 01/24/2006
• Est. Priority Date: 10/10/2002
• Status: Active Grant

• Current Assignee: Harmonic Drive Systems Inc.
• Original Assignee: Harmonic Drive Systems Inc.
• Inventors: Kaneko, Makoto, Horie, Ryuta
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): Desta, Elias
• Application Number:
  US10/674,538
• Publication Number:
  US 20040125079A1
• Time in Patent Office: 846 Days
• Field of Search: 702/57, 702/66, 702/75, 702103-104, 702189-195, 901/46, 340/665, 434113-114, 847/34, 73/75, 738/610.6, 708/5
• US Class Current: 702/189
• CPC Class Codes: G01L 1/205 using distributed sensing elements
• CPC Class Codes: G01L 1/2256 involving digital counting
• CPC Class Codes: G01L 5/009 Force sensors associated with material gripping devices
• CPC Class Codes: G01L 5/228 using tactile array force sensors

Abstract

A system for detecting tactile information includes strain-gauge touch sensors and a controller. Based on the sum output from each of tough-sensor sensor units, an analyzer in the controller calculates touch force F_i(t) at each measurement point. An automatic gain control adjusts the voltage amplitude A_i(t) of a sine wave of frequency f_i applied to the sensor units at each measurement point to bring the voltage amplitude measured at each measurement point in line with a target voltage. The adjusted voltage A_i(t) is applied to the bandpass filter with a composite sine wave y(t) which includes sine waves of each frequency corresponding to the adjusted voltage amplitude A_i(t). This makes it possible to reduce the number of lines between the controller and touch sensors that includes numerous measurement points, and enables the gain of the touch sensors constituted by strain gauges to be controlled within an appropriate range.

Claims

1. A method for detecting tactile information on touch force acting on measurement points, based on outputs from bridge circuits constituted by strain gauges adhered to each measurement point, comprising:

generating a composite sine wave signal that contains sine wave components having different frequencies;

applying the composite sine wave signal to each bridge circuit via a bandpass filter to apply to each bridge circuit a sine wave signal of a predetermined single frequency;

adding outputs from each bridge circuit to generate a sum output;

from the sum output, utilizing trigonometric function orthogonality to obtain at least touch force of touch force and touch direction acting on each measurement point;

comparing voltage amplitude measured at each measurement point to a reference voltage preset for each measurement point and adjusting the voltage amplitude of the sine wave signal of each frequency applied to the bridge circuit of each measurement point to control the gain of the bridge circuit of each measurement point to reduce any difference between measured and reference voltages.

2. A system for detecting tactile information on touch force acting on measurement points according to the method of claim 1, comprising:

a touch sensor, a controller, a signal output line for supplying the sum output of the touch sensor to the controller, and a gain control line for supplying the composite sine wave signal output from the controller to the touch sensor;

the touch sensor including a plurality of sensor units, and an adding circuit for generating the sum output by adding the output from each sensor unit;

each touch sensor including a bridge circuit constituted by a plurality of strain gauges disposed at a measurement point, and a bandpass filter for applying to the bridge circuit a sine wave signal of a predetermined single frequency included in the composite sine wave signal;

the controller including an A/D converter for A/D conversion of the sum output supplied via the signal output line, an analyzer that, from the sum output converted by the A/D converter, of the touch force and touch direction acting on each measurement point, utilizes trigonometric function orthogonality to obtain at least the touch force acting on each measurement point, an automatic gain control circuit that compares voltage amplitude measured at each measurement point to a reference voltage preset for each measurement point and adjusts the voltage amplitude of each sine wave signal frequency applied to each sensor unit of the touch sensor to reduce any difference between the measured and reference voltages, and a D/A converter that generates and outputs the composite sine wave that includes the sine wave signals of each frequency with the adjusted voltage amplitude.