Image force tactile sense detection device and reproduction method based on contact force information

Abstract

The invention relates to an image force touch sense detection device based on contact force information and a reproduction method. The detection device comprises a base, a substrate silica gel pad, a thin film force sensor, a surface silica gel pad and an EVA sponge pad. The base and a flange plate at the tail end of the robot are fixedly installed, a plurality of image sensors are arranged on the side edge of the base, and the image sensors are used for collecting surface image information of a measured object; the substrate silica gel pad, the thin film force sensor, the surface silica gel pad and the EVA sponge pad are sequentially stacked and fixed on the lower surface of the base, the EVA sponge pad senses the surface shape of a detected object through contact deformation and transmits deformation pressure to the thin film force sensor, and the thin film force sensor is used for detecting deformation pressure values of different parts. The detection device provided by the invention is compact in structure, the shape information of the surface of the detected object can be accurately expressed through the contact force information, and the image force haptic representation method based on information guidance effectively improves the extraction quality of image features.

Description

Technical field [0001] The present invention belongs to the field of human machine interaction, and in particular, the present invention relates to an image force haptic detecting device and a reproducing method based on contact force information. Background technique [0002] Force tactile man-machine interaction technology is an important part of the virtual reality. He passes the real feedback of the power of the virtual environment by simulating human feeling of real objects. Virtual interactivity and extent. The graphic is used as the projection of the three-dimensional camera imaging plane, which retains information on the surface of the object, so the image-based force-tactile reproduction technology attracts extensive attention from researchers. [0003] The two-dimensional image contains three-dimensional geometric shape information, two-dimensional pattern information, and detail texture information. Various information carried by the two-dimensional image is thrown and...

AI Technical Summary

Problems solved by technology

However, currently relying solely on the color information of the image for haptic modeling, although the calculation is relatively simple, it is easily affected by various parameters of the image itself

Based on the force sensor matrix, the surface shape information of the object can be detected, but because the resolution of the force sensor matrix is ​​limited by the size of the force sensor, the surface texture information of the object cannot be detected

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