非接触剛性イメージャ [in Japanese] Non-contact Stiffness Imager [in Japanese]
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This paper proposes the Non-contact Stiffness Imager that can provide us with the pattern of stiffness distribution of environment. While there are four combinations between the force applying method and the way for capturing the displacement, we pick up the combination in which the force is given to the environment at a local point and the displacement of environment is measured over the neighboring area where the force is given. We confirm the basic idea by utilizing the experiment system composed of an air supply system and a line laser sensor. We apply the idea to an endoscope camera, so that we can obtain the pseudo-stiffness pattern as well as the visual pattern. We also show a couple of experimental results exhibiting the pattern.
JRSJ 24(3), 363-369, 2006-04-15
The Robotics Society of Japan