Force-sense visualization apparatus, robot, and force-sense visualization program
AssigneesNational University Corporation Nagoya University, Toyota Jidosha Kabushiki Kaisha
InventorsYasuhisa Hasegawa, Jun Nakanishi, Shunki Itadera, Jotaro Chiba, Fuminori Saito
Life of this patent
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Abstract
A force-sense visualization apparatus includes a data acquisition unit configured to acquire image data and force-sense data, image data being obtained by taking an image of a surrounding environment of a robot, the force-sense data relating to a force sense that the robot has received from the outside, a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data, and an image output unit configured to superimpose the text information on the image of the image data and output the resultant image data.
Claims10
A force-sense visualization apparatus comprising:
- a data acquisition unit configured to acquire image data and force-sense data, image data being obtained by taking an image of a surrounding environment of a robot, the force-sense data relating to a force sense that the robot has received using a force-sense detection unit, the force sense being generated in response to the force-sense detection unit contacting with a physical object, and the force-sense data including a variation in force per unit time and an evaluation value representing hardness of the physical object;
- a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data and an onomatopoeia conversion table including a list of onomatopoeia and a range of the variation in force per unit time and a range of the evaluation value corresponding to each of the onomatopoeia;
- and
- an image output unit configured to superimpose the text information on the image of the image data and output resultant image data.
A robot comprising:
- an image-pickup unit configured to take an image of a surrounding environment;
- a detection unit configured to detect force-sense data relating to a force sense generated in response to the detection unit contacting with a physical object, the force-sense data including a variation in force per unit time and an evaluation value representing hardness of the physical object;
- a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data and an onomatopoeia conversion table including a list of onomatopoeia and a range of the variation in force per unit time and a range of the evaluation value corresponding to each of the onomatopoeia;
- and
- an image output unit configured to superimpose the text information on the image taken by the image-pickup unit.
A non-transitory computer readable medium storing a force-sense visualization program for causing a computer to perform:
- an image-data acquisition step of acquiring image data obtained by taking an image of a surrounding environment of a robot;
- a force-sense data acquisition step of acquiring force-sense data relating to a force sense that the robot has received using a force-sense detection unit, the force sense being generated in response to the force-sense detection unit contacting with a physical object, and the force-sense data including a variation in force per unit time and an evaluation value representing hardness of the physical object;
- a conversion step of converting the force sense into text information composed of onomatopoeia based on the force-sense data and an onomatopoeia conversion table including a list of onomatopoeia and a range of the variation in force per unit time and a range of the evaluation value corresponding to each of the onomatopoeia;
- and
- an image output step of superimposing the text information on the image of the image data and outputting resultant image data.
Dependencies are inferred from the claim text.