Compliant background subtraction algorithms for tactile rendering

Relaying spatially distributed forces promises to enhance the performance of telemanipulation systems. However, the proper way to render tactile information from the sensor to the display is not clear for current displays, where the user maintains constant contact. We present a simple approach to rendering tactile information to improve performance in a lump localization task in a compliant object. The algorithms presented subtract uninformative background information from the tactile signal. Subtracting a fixed background pressure frame reduced lump localization error by up to 20% while decreasing the time required to find the lump by up to 44%. Subtracting a background frame that depends on applied force further reduced lump localization error by another 17%.