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公开(公告)号：US20160107316A1
公开(公告)日：2016-04-21
申请号：US14884659
申请日：2015-10-15
发明人： Nicolas Alt , Eckehard Steinbach
CPC分类号： B25J9/1697 , B25J9/1612 , B25J13/025 , B25J13/081 , B25J19/023 , G01L1/25 , G01L5/226 , G05B2219/39532 , G05B2219/40575 , Y10S902/01 , Y10S902/09
摘要： A visuo-haptic sensor is presented which uses a deformable, passive material that is mounted in view of a camera. When objects interact with the sensor the deformable material is compressed, causing a change in the shape thereof. The change is shape is detected and evaluated by and image processor that is operatively connected to the camera. The camera may also observe the vicinity of the manipulator to measure ego-motion and motion of close-by objects. The visuo-haptic sensor may be attached to a mobile platform, a robotic manipulator or to any other machine which needs to acquire haptic information about the environment.
摘要翻译： 提出了一种视觉触觉传感器，它使用一个可变形的被动材料，该可变形的被动材料安装在相机的视野下。 当物体与传感器相互作用时，可变形材料被压缩，导致其形状改变。 变化是通过可操作地连接到相机的图像处理器检测和评估的形状。 相机还可以观察机械手的附近以测量靠近物体的自主运动和运动。 视觉触觉传感器可以附接到移动平台，机器人操纵器或需要获取关于环境的触觉信息的任何其他机器。
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公开(公告)号：US11113934B2
公开(公告)日：2021-09-07
申请号：US16833403
申请日：2020-03-27
发明人： Andreas Noll , Basak Gülecyüz , Eckehard Steinbach
摘要： An encoding apparatus for encoding a vibrotactile signal includes a first transforming unit configured to perform a discrete wavelet transform of the signal, a second transforming unit configured to generate a frequency domain representation of the signal, a psychohaptic model unit configured to generate at least one quantization control signal based on the generated frequency domain representation of the sampled signal and on a predetermined perceptual model based on human haptic perception, a quantization unit configured to quantize wavelet coefficients resulting from the performed discrete wavelet transform and adapted by the quantization control signal, a compression unit configured to compress the quantized wavelet coefficients, and a bitstream generating unit configured to generate a bitstream corresponding to the encoded signal based on the compressed quantized wavelet coefficients. The subject matter described herein also includes a corresponding decoding unit, an encoding method and a decoding method.
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公开(公告)号：US10393603B2
公开(公告)日：2019-08-27
申请号：US15592326
申请日：2017-05-11
发明人： Nicolas Alt , Eckehard Steinbach , Martin Freundl
摘要： 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.
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4.发明申请公开(公告)号：US20180267609A1
公开(公告)日：2018-09-20
申请号：US15894012
申请日：2018-02-12
IPC分类号： G06F3/01 , G06F3/0354
CPC分类号： G06F3/016 , G06F3/03543
摘要： The disclosure relates to a manually operable tactile input/output device for a data processing system, in particular a tactile computer mouse, which is configured with a housing and a plurality of actuators in operative connection with the housing and in which the actuators are arranged and jointly controlled in the housing to cause at least temporarily a tactile perception by a user in manual contact with the housing, by which simultaneously at least two and in particular all five tactile perception dimensions of microscopic roughness, macroscopic roughness, friction, hardness and heat are simulated. Furthermore, the disclosure relates to an operating method for a manually operable tactile input/output device and a data processing system.
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公开(公告)号：US20170328795A1
公开(公告)日：2017-11-16
申请号：US15592326
申请日：2017-05-11
发明人： Nicolas Alt , Eckehard Steinbach , Martin Freundl
CPC分类号： G01L5/226 , G01L1/24 , G01L3/08 , G01L3/1421 , G01L5/16 , G06T7/248 , G06T7/74 , G06T2207/10016 , G06T2207/30164
摘要： 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.
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公开(公告)号：US20200312103A1
公开(公告)日：2020-10-01
申请号：US16833403
申请日：2020-03-27
发明人： Andreas Noll , Basak Gülecyüz , Eckehard Steinbach
摘要： An encoding apparatus for encoding a vibrotactile signal includes a first transforming unit configured to perform a discrete wavelet transform of the signal, a second transforming unit configured to generate a frequency domain representation of the signal, a psychohaptic model unit configured to generate at least one quantization control signal based on the generated frequency domain representation of the sampled signal and on a predetermined perceptual model based on human haptic perception, a quantization unit configured to quantize wavelet coefficients resulting from the performed discrete wavelet transform and adapted by the quantization control signal, a compression unit configured to compress the quantized wavelet coefficients, and a bitstream generating unit configured to generate a bitstream corresponding to the encoded signal based on the compressed quantized wavelet coefficients. The subject matter described herein also includes a corresponding decoding unit, an encoding method and a decoding method.
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公开(公告)号：US10481693B2
公开(公告)日：2019-11-19
申请号：US15894012
申请日：2018-02-12
IPC分类号： G06F3/01 , G06F3/0354
摘要： The disclosure relates to a manually operable tactile input/output device for a data processing system, in particular a tactile computer mouse, which is configured with a housing and a plurality of actuators in operative connection with the housing and in which the actuators are arranged and jointly controlled in the housing to cause at least temporarily a tactile perception by a user in manual contact with the housing, by which simultaneously at least two and in particular all five tactile perception dimensions of microscopic roughness, macroscopic roughness, friction, hardness and heat are simulated. Furthermore, the disclosure relates to an operating method for a manually operable tactile input/output device and a data processing system.
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公开(公告)号：US09757862B2
公开(公告)日：2017-09-12
申请号：US14884659
申请日：2015-10-15
发明人： Nicolas Alt , Eckehard Steinbach
CPC分类号： B25J9/1697 , B25J9/1612 , B25J13/025 , B25J13/081 , B25J19/023 , G01L1/25 , G01L5/226 , G05B2219/39532 , G05B2219/40575 , Y10S902/01 , Y10S902/09
摘要： A visuo-haptic sensor is presented which uses a deformable, passive material that is mounted in view of a camera. When objects interact with the sensor the deformable material is compressed, causing a change in the shape thereof. The change of shape is detected and evaluated by an image processor that is operatively connected to the camera. The camera may also observe the vicinity of the manipulator to measure ego-motion and motion of close-by objects. The visuo-haptic sensor may be attached to a mobile platform, a robotic manipulator or to any other machine which needs to acquire haptic information about the environment.
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