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A Novel Inverse Solution of Contact Force Based on a Sparse Tactile Sensor Array.

Weiting Liu¹, Chunxin Gu², Ruimin Zeng³

¹The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China. liuwt@zju.edu.cn.

Sensors (Basel, Switzerland)

|January 27, 2018

Summary

This summary is machine-generated.

This study uses elastomer diffusion and a sparse tactile sensor array to detect contact force location and intensity. This method achieves high-density tactile sensing for robotic hands, overcoming traditional limitations.

Keywords:

correlation coefficient elastomer cover inverse problem sparse tactile sensor array

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

High-density tactile sensing is crucial for humanoid robotic hands.
Elastomer skins traditionally hinder force discrimination in tactile sensors.

Purpose of the Study:

To utilize elastomer diffusion for high-density tactile sensing with sparse sensor arrays.
To identify arbitrary contact force loads using a novel correlation method.

Main Methods:

Numerical analysis to establish the relationship between Pearson's correlation coefficient and force load distance.
Meshing elastomer surfaces and calibration loading to create a sensing output database.
Applying a correlation method to determine unknown force load location and intensity.

Main Results:

Validated a 3x3 sparse tactile sensor array with a flat elastomer cover.
Achieved a mean location error of 0.46 mm and a mean intensity error of 0.043 N over 100 random tests.
Demonstrated feasibility for sparse arrays to achieve high-density load detection.

Conclusions:

The proposed method effectively uses elastomer diffusion for accurate tactile sensing.
Sparse tactile sensor arrays can achieve high-density force detection, meeting robotic hand requirements.
This approach overcomes limitations of traditional elastomer tactile sensors.