Title：A Tactile Three-dimensional Force Detection Method Based on Micro-vision
Country：China
Patent No.：201610581160.9
Legal Status：Authorized
Inventor：Fuchun Sun, Chao Yang, Bin Fang, Huaping Liu, Chun Zhang, Feng Guo
Assignee：Tsinghua University
Address：Tsinghua University,Haidian District Beijing 100084, China
Filing Date：2016-07-21
Issue Date：2018-12-11
Abstract：
The invention relates to a three-dimensional tactile force detection method based on micro-vision, and belongs to the technical field of intellisense of robot dexterous hand executing tail ends. The three-dimensional force detection technology method for verification is designed on the basis of an independently-designed tactile sensor, a good effect is achieved in the gripping process, and the method belongs to the technical field of robot perception. When the sensor directly makes contact with an object, an elastomer can be subjected to force to generate deformation, marking points can correspondingly generate displacement, and image information generated before and after the marking points generate displacement is captured by an image collecting camera. Deviation information of the marking points is calculated through comparison of the image information generated before and after the force is applied, and then a regressed three-dimensional force prediction vector is obtained through neural network training and predicting. According to the three-dimensional tactile force detection method based on micro-vision, three-dimensional force tactile sense information, three-dimensional force slip sense information and the like in the dexterous hand gripping process can be detected, and the method can be applied to the field of tactile perception of robot dexterous hands.
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