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US 2019/0376860 A1Published application
Visuo-haptic sensor
OwnerNicolas Alt, Eckehard Steinbach +1inventors
InventorsNicolas Alt, Eckehard Steinbach, Martin Freundl
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Abstract
The present disclosure presents a visuo-haptic sensor, which is based on a passive, deformable element whose deformation is observed by a camera. In particular, the improved simplified sensor may determine the force and/or torque applied to a point of the sensor in multiple spatial dimensions.
Claims13
An apparatus, comprising:
- a haptic element comprising at least one passive elastically deformable element deformable in multiple dimensions;
- at least one camera external to the haptic element and operable to capture images of the elastically deformable element;
- and
- a processor operable to
- determine a change of pose of the elastically deformable element by visual tracking and
- determine a measurement of force and torque applied to the elastically deformable element based on the captured images and the determined change of pose, wherein the measurement includes at least three components comprising forces and/or torques.
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A method, comprising:
- providing a haptic element comprising at least one passive elastically deformable element deformable in multiple dimensions;
- capturing images of the elastically deformable element with at least one camera;
- determining a change of pose of the elastically deformable element by visual tracking;
- and
- determining a measurement of force applied to the elastically deformable element based on the captured images and the determined change of pose, wherein the measurement of force includes at least three dimensions including both force and torque components.
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Dependencies are inferred from the claim text.