JP7176900B2 - Deformation photographing device, deformation photographing support device, and deformation photographing method - Google Patents

Description

The present invention relates to a transforming photographing apparatus, a transforming photographing support apparatus, and a transforming photographing method for photographing the deformation of a deformed object when a region in contact with the deformed object of the target surface of the object moves.

In order to realize a virtual reality environment, it is expected to clarify the mechanism of tactile sensation and to realize tactile sensation from a scientific and engineering point of view based on the mechanism. Also, in the development of industrial products such as cosmetics, where tactile sensation is important, it is required to clarify the mechanism of tactile sensation.

Here, the "mechanism of tactile sensation" consists of (1) physical interaction between the skin and the object, (2) conversion of skin deformation accompanying physical interaction to neural activity, and (3) neural activity It is known that conversion to information processing in the brain and multiple layers of (1) to (3) are performed. Among the layers of the mechanisms that generate tactile sensation, (1) the physical interaction between the skin and the object is considered to be the most basic.

However, since the tactile sensation is generated by the contact between the skin and the object, it may not be possible to directly observe the deformation of the skin caused by the contact.

For example, a method of attaching a pressure distribution sensor to the surface of an object and measuring changes in pressure due to skin contact is conceivable. However, by attaching the pressure distribution sensor to the surface of the object, the surface material of the object greatly changes, and the tactile sensation of the object cannot be observed.

There is also a method of observing skin deformation through the object by making the object transparent (see Non-Patent Document 1). However, in the method described in Non-Patent Document 1, if the surface of the object has fine unevenness such as the rough surface of sandpaper, even if you try to observe the skin through the object, the fine unevenness will cause the object to be exposed. is blurred like frosted glass, and skin deformation cannot be observed optically. The method described in Non-Patent Literature 1 is limited to objects that do not have fine unevenness on the surface and can be made transparent, and there are limitations on the objects.

In order to solve this problem, there is a method of making the object optically transparent by immersing the object, which is transparent and has unevenness, in a liquid such as silicone oil that has the same refractive index ( See Non-Patent Document 2). According to the method described in Non-Patent Document 2, refraction and scattering of light due to unevenness of the object do not occur in principle, so skin deformation can be observed through the object without restrictions on the object.

Shinichi Hiromitsu, Takashi Maeno, "Fixation/sliding distribution of human finger pad and tactile receptor response when grasping an object", Transactions of the Japan Society of Mechanical Engineers Series C, 68(667), 914-919, March 25, 2002 Seitaro Kaneko, Hiroyuki Kajimoto, "Considerations on Observation of Finger Surface Behavior on Textured Surfaces", The Japan Society of Mechanical Engineers, Robotics and Mechatronics Lecture 2017, November 25, 2017

However, none of the non-patent documents has the problem that the tactile sensation cannot be measured appropriately without restrictions on the object.

According to Non-Patent Document 1, the tactile sensation can be measured only for objects that do not have minute unevenness on the surface and can be made transparent. Non-Patent Document 1 has a problem that it is not possible to select objects such as cloth and wood that have fine irregularities on the surface or objects that cannot be made transparent. In addition, since the skin itself is submerged in the liquid in Non-Patent Document 2, the skin may be affected by the liquid and deformed differently from the original contact state with the object.

Therefore, development of a method for appropriately observing deformation of a deformable object such as skin when it moves on an object is expected.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a transforming photographing apparatus, a transforming photographing support apparatus, and a transforming photographing method for appropriately photographing the deformation of a deformed object when a region in contact with the deformed object of the target surface of the object moves. That is.

In order to solve the above-described problems, a first feature of the present invention relates to a deformation photographing apparatus for photographing deformation of a deformable object when a region in contact with the deformable object of the target surface of the object moves. The transforming photographing device according to the first feature of the present invention is provided in an area where an object having a target surface and a transformable object are in contact with the target surface, and the transformable object can cover a direction perpendicular to the moving direction of the region. possible, an aperture passing through the object and a change in deformation accompanying movement of the region through the aperture from the direction of the surface opposite the target surface of the object while the region moves through the target surface in contact with the aperture Equipped with a camera that captures

When the deformed object is human skin or an object simulating human skin, the width of the opening in the direction perpendicular to the direction in which the region moves is the width at which the human can perceive the opening on the skin when the region moves. It may be narrower than

The cameras may be multiple cameras that photograph the deformed object from different viewpoints through the aperture.

A marker may be attached to the portion covering the opening of the variant.

The marker may be composed of a line, and the line may be arranged so as to intersect two straight lines extending two opposite sides of the opening in the moving direction of the area.

A further opening may be provided in the object in a direction perpendicular to the direction in which the region moves, and the deformation may be formed so as to cover the opening and the further opening at the same time.

A second feature of the present invention relates to a deformation photographing support device for photographing deformation of a deformable object when a region in contact with the deformable object of the target surface of the object moves. A modified photographing support device according to a second aspect of the present invention is provided in a region where a target object having a target surface and a deformable object are in contact with the target surface, and the deformable object covers a direction perpendicular to the moving direction of the region. and an opening through the object. In the second feature, while the region moves on the target surface in contact with the opening, the change of the deformation accompanying the movement of the region is photographed by the camera from the direction of the surface of the object facing the target surface through the opening. be done.

A third feature of the present invention relates to a deformation photographing method using a deformation photographing support device for photographing deformation of a deformed object when a region in contact with the deformed object of the target surface of the object moves. A deformable photography support device according to a third aspect of the present invention is provided in an area where an object having a target surface and a deformable object are in contact with the object surface, and the deformable object covers a direction perpendicular to the moving direction of the region. and an opening through the object. In the deformation photographing method, while the region moves on the target surface in contact with the opening, the camera photographs the change of the deformation accompanying the movement of the region through the opening from the direction of the surface of the object facing the target surface. Have a step.

According to the present invention, there is provided a transforming photographing device, a transforming photographing support device, and a transforming photographing method for appropriately photographing the deformation of a transforming object when a region in contact with the transforming object of the target surface of the object moves. can be done.

1 is a perspective view of a modified photographing device according to an embodiment of the present invention; FIG. 1 is a top view of a modified photographing device according to an embodiment of the present invention; FIG. 1 is a side view of a modified photographing device according to an embodiment of the present invention; FIG. 1 is a cross-sectional view taken along line AA of a modified photographing device according to an embodiment of the present invention; FIG. 2 is a cross-sectional view taken along line BB of the modified photographing device according to the embodiment of the present invention; FIG. FIG. 4 is a diagram illustrating markers attached to a deformed object in the embodiment of the present invention;

Next, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.

(deformation photographing device)
A modified photographing device 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG. In the embodiment of the present invention, the deformation photographing device 1 photographs the deformation of the deformable object 8 when the deformable object 8 moves on the target surface 3 of the object 2 . The deformation photographing device 1 photographs changes in tactile sensation caused by a deformable object 8 that is accompanied by movement, such as sliding a finger on sandpaper. The image data captured by the transforming photographing device 1 represents the temporal change in the deformation of the deformable object 8 when the deformable object 8 moves on the target surface 3 . The deformation photographing apparatus 1 detects the physical interaction between the object 2 and the deformable object 8 when the deformable object 8 moves over the object 2 and is deformed under the influence of the texture of the object 2 . It makes it possible to understand the action and elucidate one of the mechanisms that generate tactile sensation.

As shown in FIGS. 2 to 5 , the object 2 causes deformation of the deformable object 8 by moving the deformable object 8 in contact with the object 2 . The object 2 is a viscoelastic object such as sandpaper, human skin, an object simulating human skin, cloth, wood, or the running surface of a tire. The object 2 may be the skin, an object simulating the skin, or an object coated with cosmetics. Also, the object 2 is not limited to a solid, and may be a soft object such as human skin gel or a sticky object such as spray paste. It should be noted that in the embodiment of the present invention, the object 2 does not have to be transparent and has any color.

The deformable object 8 is deformed by moving in contact with the object 2 . The deformed object 8 is human skin, an object imitating human skin, a tire, or the like.

In the embodiment of the present invention, the deformable object 8 is a human skin such as a finger, and the movement is performed by sliding the finger on the target surface 3 (sliding). 8 and movement are not limited to these. For example, the deformable object 8 may be any object as long as it is deformed by movement on the target surface 3, and may be, for example, a tire that travels on a road. In addition, when moving (shifting) without changing the area of the deformable object 8 that is in contact with the target surface 3, such as by sliding a finger, the deformable object 8 is moved (shifted) without changing the area in contact with the target surface 3, such as by running on tires. This includes moving while changing the area (rotating and moving).

As shown in FIG. 1, the modified photographing device 1 includes an object 2 (a first object 2a and a second object 2b), a support base 5, a force sensor 6 and a camera 7 (a first camera 7a and a A second camera 7b) is provided.

Object 2 has an object plane 3 . The target surface 3 is a surface that gives a tactile sensation to a deformable object 8 such as a finger. The texture of the object surface 3 causes a deformation in the object 8 as it moves over the object surface 3 .

An object 2 is provided with an opening 4 passing through the object 2 . Apertures 4 are provided at positions where deformations 8 move in the target plane. The opening 4 has a rectangular shape having a longitudinal direction and a lateral direction, the longitudinal direction being the X-axis direction and the lateral direction being the Y-axis direction. The deformable object 8 slides on the target surface 3 in contact with the opening 4 in the longitudinal direction of the opening 4 (X-axis direction). As shown in FIG. 3 and the like, when the deformable object 8 moves in the longitudinal direction of the opening 4, as shown in FIGS. ) can be covered with the variant 8 .

In the embodiment of the present invention, the object 2 is composed of a first object 2a and a second object 2b, and by placing the first object 2a and the second object 2b apart Although the case of forming the opening 4 will be described, the present invention is not limited to this. For example, the opening 4 may be provided in the target object 2 formed in one plate shape without dividing the target object 2 .

The support base 5 is formed in a plate shape. A first object 2 a and a second object 2 b are provided on the support base 5 . The support base 5 is provided with an opening passing through the support base 5 at the position of the opening 4 . The opening of the support base 5 is formed to be the same or longer in the X-axis direction than the length in the X-axis direction in which the deformable object 8 moves, and in the Y-axis direction to be the same or longer than the length in the Y-axis direction of the opening 4 . formed long. A force sensor 6 is provided at each of the four corners of the support base 5 .

The force sensor 6 is a three-axis force sensor, a six-axis force sensor, or the like that measures the load generated when the deformable object 8 moves while being in contact with the target surface 3 . In the embodiment of the present invention, a case where a total of four force sensors 6 are provided at each of the four corners of the support base 5 will be described. That's all it takes. The load measured by the force sensor 6 is used to find the correlation with the deformation of the deformable object 8 .

A first camera 7a and a second camera 7b photograph the deformed object 8 from different viewpoints through the opening 4 . The first camera 7a and the second camera 7b, from the direction of the surface of the object 2 facing the object surface 3, through the opening 4, while the deformable object 8 moves on the object surface 3 in contact with the opening 4, A change in the deformed object 8 accompanying the movement of the target surface 3 is photographed. The first camera 7a and the second camera 7b are provided below the second object 2b and the support base 5 and apart in the moving direction of the deformable object 8 . More ideally, the first camera 7 a and the second camera 7 b are each provided at different positions in the XZ plane perpendicular to the aperture 4 .

The photographing ranges of the first camera 7a and the second camera 7b each include the deformation object 8 moving while covering the opening 4, as shown in FIG. A dashed-dotted line extending from the first camera 7a and the second camera 7b indicates the shooting range of each camera. From the image data obtained by photographing the deformed object 8 with the first camera 7a and the second camera 7b, three images of the deformed object 8 in the X-axis direction, the Y-axis direction and the Z-axis direction are obtained by the stereo vision method. Able to perceive dimensional movements. If the target object 2 is a soft object such as human skin gel or a sticky object such as spray paste, the deformation of the deformable object 8 is considered to occur in the Z-axis direction as well. preferred.

In addition, in the embodiment of the present invention, the case of having two cameras 7 will be described, but the present invention is not limited to this. For example, three or more cameras 7 may be provided and three-dimensional deformation of the deformable object 8 may be grasped by a stereo vision system. Alternatively, one camera 7 may be provided to grasp two-dimensional deformation (deformation on the XY plane) of the deformable object 8 .

The first camera 7a and the second camera 7b capture images at a frequency higher than the vibration frequency of the deformable object 8 during deformation in order to grasp the deformation of the deformable object 8. FIG. It is known that the tactile sense of the skin can perceive vibrations from several Hz to about 1 kHz. Two types of receptors, Meissner's corpuscles and Pacini's corpuscles, which particularly capture vibrations, have resonance peaks near 30 Hz and 240 Hz, respectively. Therefore, if the deformable object 8 is skin, the camera 7 must be capable of imaging at frequencies sufficiently higher than these frequencies, and a high-speed camera capable of imaging at frequencies such as 1 kHz, for example, is preferred.

In order to specify the image data captured simultaneously by the first camera 7a and the second camera 7b, the modified image capturing device 1 may further include a light emitting element (not shown) that repeatedly emits light and blinks. . The light emitted by the light-emitting element is formed so as to be observable in the overlapping range of the photographing ranges of the first camera 7a and the second camera 7b. Among the video data shot by the first camera 7a and the second camera 7b, the image data at the timing when the light emission by the light-emitting element is confirmed is specified as the image data shot at the same time. As a result, two pieces of image data shot at high frequencies can be synchronized and used in a stereo vision system.

Note that, in the embodiment of the present invention, among the units of the modified photographing device 1, the configuration excluding the first camera 7a and the second camera 7b may be referred to as a modified photographing support device.

(opening)
The opening 4 formed between the first object 2a and the second object 2b is elongated in the moving direction (X-axis direction) of the deformable object 8. As shown in FIG. The width in the direction perpendicular to the movement direction (Y-axis direction) is formed to be very narrow compared to the movement direction, and covered with the deformable object 8 .

The width of the opening 4, the type of the deformable object 8, and the accuracy of measuring the deformation of the deformable object 8 are appropriately set. For example, when the deformation 8 is human skin, the width of the opening 4 is specifically in the range of 0.1 mm to 5.0 mm, more preferably in the range of 0.1 mm to 0.5 mm.

The area of the deformation 8 that covers the opening 4 does not touch the target surface 3 and is therefore not affected by direct physical interaction with the target surface 3 . On the other hand, the area of the deformable object 8 adjacent to the area covering the opening 4 abuts on the target surface 3 adjacent to the opening 4 , and therefore deforms under the influence of the physical interaction with the target surface 3 . A region of the deformed object 8 that covers the opening 4 is propagated by the deformation in the adjacent region and deformed by the target surface 3 . In this way, the deformable photographing apparatus 1 according to the embodiment of the present invention converts the deformation generated in the region of the deformable object 8 covering the opening 4 due to the propagation of the deformation in the region in contact with the target surface 3 to the opening 4 . The image data captured by the camera 7 is output through the camera. Such image data makes it possible to observe, with high temporal and spatial resolution, the deformation of the object 2 as the deformable object 8 moves over the object plane.

In the embodiment of the present invention, the width (length in the Y-axis direction) of the opening 4 is preferably formed so that deformation occurs at the center of the opening 4 in the Y-axis direction. At the center of the opening 4 in the Y-axis direction, the deformation propagated from each of the two opposing sides of the opening 4 in the X-axis direction. state, it becomes possible to observe the deformation.

Further, when observing deformation that depends on human touch, it is sufficient that the camera 7 can photograph deformation that can be perceived by humans. Therefore, when the deformable object 8 is human skin or an object simulating human skin, the width of the opening 4 in the direction perpendicular to the moving direction is the same as the width of the opening 4 when the object surface 3 is moved. narrower than the perceptible width of 4. By forming the width of the opening 4 so that the human perception does not change depending on the presence or absence of the opening 4, it becomes possible to photograph and analyze the deformation of the skin perceivable by the human.

According to the findings of the inventors, when the deformable object 8 is the skin of a human fingertip or an object simulating the skin of a human fingertip, the width of the opening 4 is preferably 0.2 mm or less. Considering individual differences and the like, if the width of the opening 4 is about 0.1 mm, it is considered that a human-perceivable deformation can be photographed.

For example, when touching an opening provided in a smooth iron plate with a fingertip, a person cannot perceive a width of about 0.9 mm, and when sliding in the longitudinal direction of the opening, a person cannot perceive a width of about 0.2 mm. It has been known. Further, according to the findings of the inventors, when the target surface touched by the fingertip becomes rough, the perception threshold during sliding increases. Therefore, when observing skin deformation after applying cosmetics, the target surface 3 is the cheek of the face, and even if the width of the opening 4 is about 2 mm, it is possible to observe the deformation.

Moreover, since the sensitivity varies depending on the body part, the width of the opening 4 is considered to vary depending on the body part that closes the opening. The two-point discrimination threshold of the skin is about 1.5 mm for the fingertip, about 8 mm for the palm, and about several cm for the arm. Therefore, when sliding on the target surface 3 with a body part other than a finger, the upper limit value of the width required for the opening 4 is expected to be larger than the upper limit value when sliding with a finger. For example, the width of the opening 4 for measuring the deformation of the finger when sliding the cheek with the palm is wider than the width of the opening 4 for measuring the deformation of the finger when sliding the cheek with the finger. There is

Thus, the width of the opening 4 is appropriately set according to the properties of the target surface 3 and the deformable object 8 . In the above description, the deformable object 8 is a part of the human body. However, even if the object 2 is a tire or the like, the width of the opening 4 can be changed appropriately according to the accuracy required to identify the deformation. set.

(marker)
As shown in FIG. 2 and the like, it is preferable to attach a marker 9 to the portion of the deformation 8 that covers the opening 4 . By attaching a marker, deformation can be observed by tracking the marker in the image data captured by the camera 7 . The marker 9 may be a point or a line, or may be a fingerprint, a mole, a groove of a tire, or the like originally attached to the deformed object 8 .

When the marker 9 is composed of a line, the marker 9 is formed so as to be inclined on the XY plane from the direction in which the deformable object 8 moves so that the movement of the marker 9 can be visualized. Specifically, the line of the marker 9 is arranged so as to intersect with two straight lines extending two opposite sides in the moving direction (X-axis direction) of the opening 4 .

Also, the marker 9 is preferably composed of a plurality of lines parallel to each other. By structuring the marker with multiple lines, the deformation of a wider area of the deformation 8 can be observed. At this time, by arranging the plurality of lines at equal intervals, the deformation of the deformable object 8 can be easily identified by the intervals between the lines of the marker 9 .

As shown in FIG. 6A, the marker 9 is preferably provided along the Y-axis direction so that each line forming the marker 9 is orthogonal to the moving direction (X-axis direction) of the deformable object 8. . Thereby, movement of the marker 9 can be easily visually recognized.

Furthermore, in the image data captured by the camera 7, each line forming the marker 9 is preferably formed so as to be parallel to the rows of pixels arranged in a grid pattern. In this case, as shown in FIG. 6B, the rows of pixels arranged in a grid pattern of the image data (rows in the Y-axis direction) are parallel to the pixels displaying the markers 9, and the markers 9 are displayed. The number of pixels to be processed is suppressed. This is preferable because the difference between the pixel values of the pixels displaying the markers 9 and the pixels displaying the pixels other than the markers 9 becomes large, and the pixels displaying the markers 9 can be easily identified.

On the other hand, if the pixels displaying the marker 9 are inclined with respect to the rows of pixels arranged in a grid pattern, the pixels forming the marker are observed in many pixels. In some cases, the difference in pixel value between the pixel displaying the marker and the pixel displaying the non-marker becomes small, making it difficult to specify the pixel displaying the marker.

According to the photographing device 1 according to the embodiment of the present invention, the deformation of the deformable object when the deformable object moves on the target surface of the object is appropriately photographed. This makes it possible to quantify the tactile sensation that a person feels when sliding on the target surface 3 . It is possible to discover the correspondence between subjective tactile sensations expressed by onomatopoeia such as roughness, smoothness, smoothness, and ruggedness, spatial deformation of the deformable object 8 such as skin, and its frequency components.

By quantifying the tactile sensation, it is also possible to design a tactile display that presents the tactile sensation. For example, in order to present the feeling of a certain material, the deformation of the deformable object 8 is photographed by the deformation photographing device 1 with the material set as the target surface, and the deformation is quantified. Furthermore, by presenting quantified deformation, the tactile display can present a tactile sensation similar to that of the material without the material.

In addition, since it is possible to discover the correspondence between the subjective tactile sensation and the deformation of the deformable object 8 and design a tactile display that presents the deformation of the deformable object 8, it is possible to design a display for generating a certain subjective tactile sensation. be possible.

It also contributes to shortening the development process by applying it to the development of industrial products that require a tactile feel. For example, in the development of cosmetics, there are cases where the correspondence between "prototypes" and "subjective tactile sensations" is determined by a large number of test subjects for each prototype. One of the reasons why a large number of subjects are required is that subjective tactile sensation varies greatly among individuals, and responses from each subject are not stable.

The subjective tactile sensation is considered to be generated along the route of “target object” → “skin deformation” → “subjective tactile sensation”. ”→“Subjective tactile sensation” mapping becomes clear. Therefore, by setting the skin to which cosmetics are applied or an object simulating it as the object plane 3 and photographing it with the modified photographing device 1, the subjective tactile sensations exhibited by the cosmetics or the like can be obtained without obtaining the subjective tactile sensations from the subject. can be inferred. Contributes to shortening the development process by not conducting tests on human subjects. Also, instead of skin, artificial skin having a surface material equivalent to that of skin may be used.

Furthermore, the deformation photographing device 1 according to the embodiment of the present invention can be applied not only to photograph deformation of the skin, but also to other objects. For example, by using a rubber tire as the deformable object 8, it is possible to contribute to detailed clarification of physical phenomena occurring between the tire and the road surface.

(First modification)
Although the case where the deformable object 8 moves on the target surface 3 has been described in the embodiment of the present invention, the present invention is not limited to this. The deformation 8 may be fixed and the target plane 3 (or the target object 2 containing the target plane 3) may be moved. In other words, in the transformable photographing device 1, the area of the target surface 3 with which the transformable object 8 is in contact should be moved.

In this case, the position of the opening 4 provided in the object 2 is the area where the deformable object 8 contacts the object surface 3 . The deformable object 8 covers the direction perpendicular to the direction in which the region of the opening 4 where the deformable object 8 contacts the target surface 3 moves (the lateral direction of the opening 4).

Further, the camera 7 detects the deformable object 8 from the direction of the surface of the object 2 facing the object surface 3 through the opening 4 while the region in contact with the deformable object 8 moves on the object surface 3 in contact with the opening 4. A change in the deformed object 8 accompanying movement of the contact area is photographed.

When the deformable object 8 is human skin or an object that imitates human skin, the width of the opening 4 in the direction perpendicular to the direction in which the region in contact with the deformable object 8 moves (length in the lateral direction of the opening 4) is narrower than the width at which a person can perceive the opening with the skin when the area in contact with the deformable object 8 moves.

When the marker 9 is composed of a line, the line is arranged so as to intersect two straight lines extending two opposite sides of the opening 4 in the direction in which the region in contact with the deformable object 8 moves.

When there are a plurality of openings 4, these openings 4 are arranged in a direction perpendicular to the direction in which the region in contact with the deformable object 8 moves. At this time, the distance between the plurality of openings 4 is adjusted so that the deformable object 8 can cover the plurality of openings 4 at the same time.

As a result, the deformation photographing apparatus 1 can appropriately photograph the deformation of the deformed object when the region in contact with the deformed object of the target surface of the object moves.

(Second modification)
In the embodiment of the present invention, the case where the deformable object 8 covers only one opening 4 has been described, but the present invention is not limited to this. Variants 8 may cover multiple openings. Specifically, a further opening is provided in the object 2 in a direction perpendicular to the moving direction of the opening 4 (Y-axis direction), and the deformable object 8 covers the opening 4 and the further opening at the same time. can be formed. The deformable object 8 simultaneously covers two openings arranged in parallel in the Y-axis direction and slides in the X-axis direction. For example, the pad of the finger and the armpit of the finger have different shapes, sensations, and the like, and may also have different tactile sensations. By simultaneously covering a plurality of openings with the deformations 8, it is possible to simultaneously observe different deformations depending on the positions of the deformations 8 covering the openings.

(Third modification)
The deformable object 8 may move under its own power or may be moved by a robot arm carrying the deformable object 8 . When the deformable object 8 is a human finger, the human may move the deformable object 8 along the opening 4 or a robot arm may move the deformable object 8 along the opening 4 . Alternatively, a single-axis robot or the like that supports the deformable object 8 such as a finger may move the deformable object 8 along the opening 4 . If the deformable object 8 is moved by a robotic arm, a single-axis robot, etc., it would also be possible to measure the speed at which the deformable object 8 moves, etc., to derive a correlation with the transformation in the deformable object 8 .

(Other embodiments)
As described above, the present invention has been described according to the embodiment and the first to third modifications, but the statements and drawings forming part of this disclosure should not be understood to limit the present invention. . Various alternative embodiments, examples and operational techniques will become apparent to those skilled in the art from this disclosure.

The present invention naturally includes various embodiments and the like that are not described here. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention according to the scope of claims that are valid from the above description.

REFERENCE SIGNS LIST 1 transforming photographing device 2 object 3 object surface 4 opening 5 support base 6 force sensor 7 camera 8 transforming object 9 marker

Claims (9)

A deformation photographing device for photographing deformation of a deformable object when a region in contact with the deformable object moves on a target surface of an object,
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to a moving direction of the region, and an opening penetrating the target object;
While the region moves on the target surface in contact with the opening, photographing changes in the deformed object accompanying movement of the region through the opening from a direction of a surface of the object facing the target surface. equipped with a camera
If the deformed object is human skin or an object that imitates human skin,
A transforming photographing apparatus , wherein the width of the opening in the direction perpendicular to the moving direction of the area is narrower than the width of the opening that a person can perceive with the skin when the area moves . A deformation photographing device for photographing deformation of a deformable object when a region in contact with the deformable object moves on a target surface of an object,
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to a moving direction of the region, and an opening penetrating the target object;
While the region moves on the target surface in contact with the opening, photographing changes in the deformed object accompanying movement of the region through the opening from a direction of a surface of the object facing the target surface. equipped with a camera
a further opening is provided in the object in a direction perpendicular to the direction in which the region moves;
A modified photographing apparatus , wherein the modified object is formed so as to cover the opening and the additional opening at the same time . 3. The transforming photographing apparatus according to claim 1, wherein the cameras are a plurality of cameras that photograph the transforming object from different viewpoints through the opening. 4. The transforming photographing apparatus according to any one of claims 1 to 3, wherein a marker is attached to a portion of the transforming object that covers the opening. The markers are composed of lines,
5. The transformable photographing apparatus according to claim 4, wherein the line is arranged to intersect two straight lines extending two sides of the opening facing each other in the moving direction of the region. A deformation photographing support device for photographing deformation of a deformable object when a region in contact with the deformable object moves on a target surface of an object,
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to the moving direction of the region, and an opening penetrating the target object;
While the region moves on the target surface in contact with the opening, a change in the deformed object accompanying the movement of the region through the opening from the direction of the surface of the object facing the target surface is detected by the camera. Taken at the
If the deformed object is human skin or an object that imitates human skin,
The modified photographing support apparatus , wherein the width of the opening in the direction perpendicular to the moving direction of the area is narrower than the width of the opening that a person can perceive with the skin when the area moves . A deformation photographing support device for photographing deformation of a deformable object when a region in contact with the deformable object moves on a target surface of an object,
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to the moving direction of the region, and an opening penetrating the target object;
While the region moves on the target surface in contact with the opening, a change in the deformed object accompanying the movement of the region through the opening from the direction of the surface of the object facing the target surface is detected by the camera. Taken at the
a further opening is provided in the object in a direction perpendicular to the direction in which the region moves;
A modified photographing support device , wherein the modified object is formed so as to cover the opening and the additional opening at the same time . A deformation photographing method using a deformation photographing support device for photographing deformation of a deformable object when a region in contact with the deformable object of a target surface of an object moves, the method comprising:
The modified photographing support device is
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to the moving direction of the region, and an opening penetrating the target object;
The modified photographing method includes:
While the camera moves the region on the target surface in contact with the opening, the deformable object changes as the region moves from the direction of the surface of the object facing the target surface through the opening. comprising a step of photographing
If the deformed object is human skin or an object that imitates human skin,
A modified photographing method , wherein a width of the opening in a direction orthogonal to a direction in which the area moves is narrower than a width at which a person can perceive the opening with the skin when the area moves . A deformation photographing method using a deformation photographing support device for photographing deformation of a deformable object when a region in contact with the deformable object of a target surface of an object moves, the method comprising:
The modified photographing support device is
an object having an object plane;
a deformable object is provided in a region in contact with the target surface, the deformable object can be covered in a direction orthogonal to the moving direction of the region, and an opening penetrating the target object;
The modified photographing method includes:
While the camera moves the region on the target surface in contact with the opening, the deformable object changes as the region moves from the direction of the surface of the object facing the target surface through the opening. comprising a step of photographing
a further opening is provided in the object in a direction perpendicular to the direction in which the region moves;
A modified photographing method , wherein the modified object is formed so as to cover the opening and the additional opening at the same time .

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