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GelForce: a vision-based traction field computer interface

Published: 02 April 2005 Publication History

Abstract

We propose a tactile sensor based on computer vision that measures a dense traction field, or a distribution of 3D force vectors over a 2D surface, which humans also effectively sense through a dense array of mechanoreceptors in the skin. The proposed "GelForce" tactile sensor has an elegant and organic design and can compute large and structurally rich traction fields in real time. We present how this sensor can serve as a powerful and intuitive computer interface for both existing and emerging desktop applications.

References

[1]
Ferrier, N. J., Brockett, R. W., Reconstructing the shape of a deformable membrane from image data, Int. Journal of Robotics Research 19, 9 (2000), 795--816.
[2]
Kamiyama, K., Vlack, K., Mizota, T., Kajimoto, H., Kawakami, N., Tachi, S, Vision-Based Sensor for Real-Time Measuring of Surface Traction Fields, IEEE Computer Graphics and Applications 25,1 (2005). 68--75
[3]
Hetnarski, R. B., Ignaczak, J., Mathematical Theory of Elasticity, Taylor & Francis (2004), 437--460
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James, D. L., Pai, D. K. Multiresolution green's function methods for interactive simulation of large-scale elastostatic objects, ACM Transactions on Graphics 22,1 (2003), 47--82
[5]
Shimizu, T., Shikida, M., Sato, K., Itoigawa, K. A new type of tactile sensor detecting contact force and hardness of an object. Proc 2002 IEEE Conf. On MEMS 1 (2002), 344--347

Cited By

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  • (2024)Design and Evaluation of a Rapid Monolithic Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-SightSensors10.3390/s2414460324:14(4603)Online publication date: 16-Jul-2024
  • (2024)Deformation Pattern Shape Sensing for Visuotactile Endoscope2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)10.1109/RCAR61438.2024.10671278(106-111)Online publication date: 24-Jun-2024
  • (2023)Feel the Force, See the Force: Exploring Visual-tactile Associations of Deformable Surfaces with Colours and ShapesProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3580830(1-13)Online publication date: 19-Apr-2023
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  1. GelForce: a vision-based traction field computer interface

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    cover image ACM Conferences
    CHI EA '05: CHI '05 Extended Abstracts on Human Factors in Computing Systems
    April 2005
    1358 pages
    ISBN:1595930027
    DOI:10.1145/1056808
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Publication History

    Published: 02 April 2005

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    Author Tags

    1. computer vision
    2. elasticity
    3. gelforce
    4. tactile sensor

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    Cited By

    View all
    • (2024)Design and Evaluation of a Rapid Monolithic Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-SightSensors10.3390/s2414460324:14(4603)Online publication date: 16-Jul-2024
    • (2024)Deformation Pattern Shape Sensing for Visuotactile Endoscope2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)10.1109/RCAR61438.2024.10671278(106-111)Online publication date: 24-Jun-2024
    • (2023)Feel the Force, See the Force: Exploring Visual-tactile Associations of Deformable Surfaces with Colours and ShapesProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3580830(1-13)Online publication date: 19-Apr-2023
    • (2023)Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing2023 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48891.2023.10160288(10373-10379)Online publication date: 29-May-2023
    • (2023)Prototype of A Novel Visuotactile Endoscope Probe2023 IEEE 13th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)10.1109/CYBER59472.2023.10256500(1368-1373)Online publication date: 11-Jul-2023
    • (2021)WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus DetectionIEEE Robotics and Automation Letters10.1109/LRA.2021.30628166:2(3357-3364)Online publication date: Apr-2021
    • (2020)Visual-Tactile Fusion for Robotic Stable GraspingIndustrial Robotics - New Paradigms [Working Title]10.5772/intechopen.91455Online publication date: 27-Feb-2020
    • (2020)VersaTouchProceedings of the Augmented Humans International Conference10.1145/3384657.3384778(1-12)Online publication date: 16-Mar-2020
    • (2020)Soft Robotic Module for Sensing and Controlling Contact Force2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)10.1109/RoboSoft48309.2020.9115970(70-75)Online publication date: May-2020
    • (2019)Multimodal grasp data set: A novel visual–tactile data set for robotic manipulationInternational Journal of Advanced Robotic Systems10.1177/172988141882157116:1Online publication date: 7-Jan-2019
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