| 摘要 |
PROBLEM TO BE SOLVED: To provide an optical tactile sensor capable of measuring a large-area distribution of force vectors and provide an information integrating method capable of measuring the large-area distribution of force vectors. SOLUTION: In a marker image integrating method, the optical tactile sensor has both a tactile part constituted of a transparent elastic body 1 and a plurality of markers 3 and 4 provided inside of the transparent elastic body 1 and a plurality of imaging devices 6 and 6 for acquiring marker images by photographing behaviors of the markers when an object 5 comes into contact with a tactile surface 2 of the transparent elastic body 1. By using each imaging device 6 of two or more imaging devices, the image integrating method has both a step for acquiring partial images by imaging a partial region of the transparent elastic body 1 in such a way that each imaging device 6 may have an overlapping photographing region 11 and a step for integrating the partial images acquired by each imaging device 6 in such a way that the same markers may be matched with each other within the overlapping photographing region. COPYRIGHT: (C)2006,JPO&NCIPI
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