DocumentCode :
869966
Title :
Vision-based force measurement
Author :
Greminger, Michael A. ; Nelson, Bradley J.
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
Volume :
26
Issue :
3
fYear :
2004
fDate :
3/1/2004 12:00:00 AM
Firstpage :
290
Lastpage :
298
Abstract :
This paper demonstrates a method to visually measure the force distribution applied to a linearly elastic object using the contour data in an image. The force measurement is accomplished by making use of the result from linear elasticity that the displacement field of the contour of a linearly elastic object is sufficient to completely recover the force distribution applied to the object. This result leads naturally to a deformable template matching approach where the template is deformed according to the governing equations of linear elasticity. An energy minimization method is used to match the template to the contour data in the image. This technique of visually measuring forces we refer to as vision-based force measurement (VBFM). VBFM has the potential to increase the robustness and reliability of micromanipulation and biomanipulation tasks where force sensing is essential for success. The effectiveness of VBFM is demonstrated for both a microcantilever beam and a microgripper. A sensor resolution of less than +/-3 nN for the microcantilever and +/-3 mN for the microgripper was achieved using VBFM. Performance optimizations for the energy minimization problem are also discussed that make this algorithm feasible for real-time applications.
Keywords :
computer vision; force measurement; grippers; image matching; minimisation; biomanipulation tasks; contour data; energy minimization method; force distribution; governing equations; linear elasticity; linearly elastic object; microcantilever beam; microgripper; micromanipulation; reliability; robustness; template matching; vision based force measurement; Biosensors; Elasticity; Energy resolution; Equations; Force measurement; Force sensors; Grippers; Minimization methods; Optimization; Robustness; Algorithms; Artificial Intelligence; Image Interpretation, Computer-Assisted; Imaging, Three-Dimensional; Models, Biological; Pattern Recognition, Automated; Physical Examination; Reproducibility of Results; Sensitivity and Specificity; Stress, Mechanical; Transducers; User-Computer Interface;
fLanguage :
English
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publisher :
ieee
ISSN :
0162-8828
Type :
jour
DOI :
10.1109/TPAMI.2004.1262305
Filename :
1262305
Link To Document :
بازگشت