基于视觉的触觉传感器信号处理电路设计

张贵相; 钟艺; 张春

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基于视觉的触觉传感器信号处理电路设计

更新时间：2026-09-04

- 基于视觉的触觉传感器信号处理电路设计
- Signal Processing Circuit for Vision-Based Tactile Sensor
- 微电子学与计算机 2016年33卷第2期页码：18-21
- 作者机构：
  
  清华大学微电子研究所,北京,100084
- 作者简介：
- 基金信息：
  
  国家自然科学基金项目 61327809
- DOI：
  中图分类号：
- 纸质出版：2016
- 稿件说明：
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张贵相, 钟艺, 张春. 基于视觉的触觉传感器信号处理电路设计[J]. 微电子学与计算机, 2016, 33(2): 18-21.

ZHANG Gui-xiang, ZHONG Yi, ZHANG Chun. Signal Processing Circuit for Vision-Based Tactile Sensor[J]. 2016, 33(2): 18-21.
张贵相, 钟艺, 张春. 基于视觉的触觉传感器信号处理电路设计[J]. 微电子学与计算机, 2016, 33(2): 18-21. DOI：

ZHANG Gui-xiang, ZHONG Yi, ZHANG Chun. Signal Processing Circuit for Vision-Based Tactile Sensor[J]. 2016, 33(2): 18-21. DOI：

摘要

基于视觉的传感器由图像传感器和内部有标记点的透明弹性胶体构成

当传感器受力时弹性体发生形变

标记点发生位移

图像传感器获取标记点位移信息

再利用弹性原理由标记点位移计算出传感器的受力情况.信号处理电路以小型FPGA芯片EP4CGX30为数据处理器

实现高速图像采集、标记点位置识别、标记点位移计算及传感器受力直接输出

其尺寸满足放置在机械手的第二指节中的要求.

Abstract

A vision-based tactile sensor is made of a camera and a transparent elastic body with markers inside. When a force is applied to the sensor

the elastic body deforms and the markers move. The camera captures the movements of the markers. Then the force applied on the sensor is calculated by elastic theory and the movements of the markers. The signal processing circuit is a circuit with a small size FPGA EP4CGX30 served as data process unit and can catch pictures with a high speed

identify the location of markers and calculate the movements of markers and the force applied on the sensor. The size of the circuit is small enough to be put into the second part of the mechanical finger.

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references

Sato K, Kamiyama K, Nii H, et al. Measurement of force vector field of robotic finger using vision-based haptic sensor[C]//Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. French, Nice, IEEE, 2008: 488-493.

Kamiyama K, Vlack K, Mizota T, et al. Vision-based sensor for real-time measuring of surface traction fields[J]. Computer Graphics and Applications, IEEE, 2005, 25(1): 68-75. DOI: 68

Johnson M K, Adelson E H. Retrographic sensing for the measurement of surface texture and shape[C]//Computer Vision and Pattern Recognition, 2009. CVPR 2009. IEEE Conference on. USA, Miami, IEEE, 2009: 1070-1077.

Yousef H, Boukallel M, Althoefer K. Tactile sensing for dexterous in-hand manipulation in robotics—A review[J]. Sensors and Actuators A: physical, 2011, 167(2): 171-187. DOI: 171

Johnson M K, Cole F, Raj A, et al. Microgeometry capture using an elastomeric sensor[C]//ACM Transactions on Graphics (TOG). USA, Los Angelous, ACM, 2011, 30(4): 46.

Sato K, Kamiyama K, Kawakami N, et al. Finger-shaped gelforce: sensor for measuring surface traction fields for robotic hand[J]. Haptics, IEEE Transactions on, 2010, 3(1): 37-47. DOI: 37

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