Title :
Structures and information acquisition algorithms for three-dimensional flexible tactile sensor
Author :
Ding, Junxiang ; Xu, Fei ; Li, Shanhong ; Ge, Yunjian ; Shuang, Feng
Author_Institution :
Inst. of Intell. Machines, Chinese Acad. of Sci., Hefei, China
Abstract :
The paper describes a novel structure design method of a large-scale three-dimensional flexible tactile sensor arrays based on conductive rubber. The mathematical model of the sensor is described in detail and the decoupling algorithm based on homotopy theory is proposed in this paper. Simulation results show that the sensor can achieve large-scale 3-D flexible tactile arrays measurement and easy expansion. Information acquisition algorithms of the sensor are designed to get 3-D force information accurately in real time.
Keywords :
data acquisition; sensor arrays; tactile sensors; 3D flexible tactile array measurement; conductive rubber; homotopy theory; information acquisition algorithm; three dimensional flexible tactile sensor array; Algorithm design and analysis; Equations; Force; Mathematical model; Resistance; Rubber; Tactile sensors;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723439
