Model-based computation of contact forces acting on an elastic tactile sensor

被引:0
|
作者
Gerbet, Daniel [1 ]
Woittennek, Frank [2 ]
Knueppel, Torsten [2 ]
Chalon, Maxime [3 ]
Reinecke, Jens [3 ]
机构
[1] Univ Saarland, Lehrstuhl Systemtheorie & Regelungstech, D-66123 Saarbrucken, Germany
[2] Tech Univ Dresden, Inst Regelungs & Steuerungstheorie, D-01062 Dresden, Germany
[3] Deutsch Zentrum Luft & Raumfahrt, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany
关键词
Tactile sensor; distributed parameter systems; ELEMENT;
D O I
10.1515/auto-2015-0051
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this contribution, a tactile sensor based on the deformation of an elastic body is presented. This deformation is observed by a camera inside the sensor. The force on the sensors boundary causing the displacement is to be computed from the camera image. The solvability of the problem is discussed and a model-based algorithm computing the forces is proposed.
引用
收藏
页码:656 / 664
页数:9
相关论文
共 50 条
  • [1] Model-Based 3D Contact Geometry Perception for Visual Tactile Sensor
    Ji, Jingjing
    Liu, Yuting
    Ma, Huan
    [J]. SENSORS, 2022, 22 (17)
  • [2] Sensor Design and Model-based Tactile Feature Recognition
    Mueller, Veit
    Thanh-Long Lam
    Elkmann, Norbert
    [J]. 2017 IEEE SENSORS, 2017, : 879 - 881
  • [3] A Convex Tactile Sensor for Isotropic Tissue Elastic Modulus Estimation Based on the Plane Contact Model
    Li, Chenggang
    Yan, Dengdeng
    Shen, Jingjin
    [J]. IEEE SENSORS JOURNAL, 2019, 19 (15) : 6251 - 6259
  • [4] Model-based estimation of contact forces in flexible structures
    Krajcin, I
    Söffker, D
    [J]. MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS, 2004, 10 (3-4) : 303 - 316
  • [6] Model-Based Computation
    Beebe, Cameron
    [J]. UNCONVENTIONAL COMPUTATION AND NATURAL COMPUTATION, UCNC 2016, 2016, 9726 : 75 - 86
  • [7] Model-based computation
    Cameron Beebe
    [J]. Natural Computing, 2018, 17 : 271 - 281
  • [8] Model-based computation
    Beebe, Cameron
    [J]. NATURAL COMPUTING, 2018, 17 (02) : 271 - 281
  • [9] On Model-Based Evolutionary Computation
    L. Bull
    [J]. Soft Computing, 1999, 3 (2) : 76 - 82
  • [10] Partitioned Reconstruction of Contact Forces in Tactile Sensor Arrays for Robotic Sensing Systems
    Pinto-Salamanca, Maria-Luisa
    Perez-Holguin, Wilson-Javier
    [J]. PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON ROBOTICS, COMPUTER VISION AND INTELLIGENT SYSTEMS (ROBOVIS), 2021, : 182 - 189