Abstract: An optical tactile sensor and an image information integrating method capable of measuring large area force vector distribution are provided. The optical tactile sensor comprises a tactile section comprising a transparent elastic body (1) and a plurality of markers (3, 4) provided therein, and a plurality of imaging devices (6, 6) for obtaining a marker image by photographing the behavior of the markers when an object (5) contacts the tactile face (2) of the transparent elastic body (1). The method comprises a step of obtaining a partial image by photographing the partial regions A, B, C and D of the transparent resilient body (1) using the plurality of imaging devices (6, 6) such that each imaging device (6) has an overlapped photograph region (11), and a step of integrating the partial images obtained by each imaging device (6) such that the identical markers in the overlapped photograph region match.

Abstract: The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.

Abstract: A stereoscopic image display method capable of stereoscopic display of a photographed image. One two-dimensional image is selected, and one pixel capable of being viewed from a corresponding viewpoint position is selected from a plurality of pixels. A virtual surface with the selected two-dimensional image pasted thereon is assumed, and the virtual surface is arranged so that an image center point of the two-dimensional image corresponding to a center of an object coincides with a center of a display surface. Next, a virtual extension that extends from the viewpoint position to the virtual surface through the selected pixel is assumed. A color on the two-dimensional image assumed to have been pasted on the virtual surface, corresponding to a point of intersection between the virtual extension and the virtual surface is determined as a display color of the pixel positioned in a direction extending from the pixel to the viewpoint position.

Abstract: A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.

Abstract: The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.

Abstract: The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.

Abstract: The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably, the marker groups have mutually different spatial arrangements.

Abstract: A robot-phone enabling human communication by synchronizing shapes, motions, and positions of a plurality of robots located at a distance from one another. The robot-phone is used as a user interface and includes a robot of a stuffed doll having a movable potion at a part of the body, a microphone (11) for communication, a speaker (12), a driving portion (13) for driving the movable portion, a position information sensor (14) for acquiring position information of the movable portion, and a communication connecting portion (16).

Abstract: According to the method and apparatus, light beams directed toward virtual visual points are detected from among light beams emitted from or reflected on the surface of an object. The detection is effected by an image pickup device in a plurality of positions lying on a virtual closed surface with which the object is enclosed. The detected light beams are converted into image pickup signals, which are delivered to a display device adapted to display an image toward a visual point of an observer standing or sitting in a place different from a place where any of the virtual visual points is disposed. The image is displayed in such a manner as if light beams were emitted toward the visual point of the observer from various points on the surface of a virtual object disposed in a virtual position corresponding to the relative positions of the real object and any of the virtual visual points.

Abstract: The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably, the marker groups have mutually different spatial arrangements.

Abstract: The present invention provides a smart tool for real-time measurement of a changing environment and real-time display of such information to the user, thereby supporting the user for example in surgery. Visual information in the vicinity of the tool tip is displayed to the user of the tool as haptic information. The smart tool comprises a tool (surgical knife), a light-receiving element for receiving the light reflected by an object in the vicinity of the tool tip, a decision portion for deciding the brightness and/or color of the object in the vicinity of the tool tip based on the output from said light-receiving element, a repulsive force calculation portion for calculating the repulsive force to be applied to said tool based on the output from said decision portion, a motor driving circuit for applying repulsive force to said tool based on the output from the repulsive force calculation portion, a motor, and a wire.

Abstract: An image telecommunication system comprises a worker's device and a manager's device. The worker's device collects an image of an object and transmits it to the manager's device placed in a remote place, so that the image is displayed on a display screen of the manager's device. The manager's device transmits a designated position of the image, designated in a state where the image is displayed, to the worker's device. The worker's device indicates a position of the object corresponding to the designated position received from the manager's device. The worker's device detects a point of view of the worker. The manager's device suppresses fluctuation of the image displayed on the display screen, when it is determined that the worker looks at the object substantially continuously.

Abstract: A projector is disposed at a position that is optically conjugated to a position of eyes of an observer. The projector projects an image to a screen that has retroreflection function so as to provide information of virtual space to the observer. If a real object such as a tactile sense provision device that is to be shielded by the virtual space exists, a part or the whole of the real object is optically hidden from the projection of the projector by a shielding member having retroreflection function, for example, by placing a shielding screen on which a retroreflection material is coated, or by coating the retroreflection material.

Abstract: A pair of projectors are arranged for projecting an image. These projectors are disposed in optically conjugate relationship with the observer's eyes respectively. An image of an object to be viewed by the observer is projected from the projectors and is allowed to appear on a screen, the shape of which corresponds to that of the object.

Abstract: A video see through AR system capable of obtaining correct depth information with respect to each pixel representing a two-dimensional image is disclosed so that a portion of imagery which should appear in the background of a final picture may be properly hidden behind imagery which should appear in the foreground of the final picture. A photographing device is provided for obtaining a two-dimensional image of a real object field disposed in conjugate relationship with an observer's eyes. Also provided is a device for measuring distances with respect to each pixel to the real object to be measured. The measured distance is compared with the distance to virtual imagery with respect to each pixel and the pixel which represents the imagery disposed closer to the observer is selected for the formation of combined imagery, which is displayed on the screen of a display device.

Abstract: A camera is arranged at a conjugate position to eyes of the observer. A distance from the observer to a pixel in the real space image located at the same position as a pixel in the virtual space image is determined according to the real space image picked up by the camera. A virtual space image is generated based on virtual space information stored beforehand. Then, the distance of the real space image is compared with that of the virtual space image, and one of the pixels more near the observer is selected for the display. This processing is performed on each pixel, and the real space image and the virtual space image are integrated as an image to be displayed for the observer at the same time.

Abstract: A device for inputting a shape of an object includes a base mounted on the object, a flex detecting unit for detecting an amount of flex of the object, and a stretch detecting unit, coupled to the base and to the flex detecting unit, for detecting an amount of stretch between the base and the flex detecting unit which corresponds to an amount of stretch of the object. The stretch detecting unit includes a stretch mechanism which is expanded or contracted in accordance with the stretch of the object, and the amount of stretch of the object is detected based on a detected amount of stretch of the stretch mechanism. The flex detecting unit includes a member which is deformable in an amount corresponding to the amount of flex of the object, and the amount of flex of the object is detected based on a detected amount of deformation of the deformable member.

Abstract: A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.

Abstract: A portable map display apparatus stores, in a memory, features of a plurality of points on a given map and features of routes connecting such points and, on receiving input signals concerning a given point of start and a given destination, sequentially displays, on an output device, the information on the optimum route to be followed in reaching the destination from the point of start.

Abstract: Object detecting apparatus for use, for example, upon a mobile robot to detect objects or obstacles such that the robot may navigate clear of such objects or obstacles includes a source of light for projecting a light beam (7) convergingly toward an axis (9) so as to intersect the axis. The light beam (7) is rotated about the axis (9) within a circular locus (10) while the predetermined converging angle of the beam (7) is maintained constant with respect to the axis (9) so as to generate a light beam detecting surface (8). A condensing lens (2) and light detector (3) are coaxially disposed upon the axis (9) along with the circular locus (10) of the light beam (7) so as to define a viewing field or volume (5). An object-to-be-detected (6) may therefore be detected when the same is illuminated by the projected light beam (7) and its envelope surface (8), and the light reflected from the object (6) is transmitted back to the lens (2) and light detector (3).