Partitioned Reconstruction of Contact Forces in Tactile Sensor Arrays for Robotic Sensing Systems

María-Luisa Pinto-Salamanca, Wilson-Javier Pérez-Holguín

2021

Abstract

The reconstruction of contact forces is essential for the performance of robotic manipulation systems from the information captured by tactile sensors. This work explores the implementation of a model-driven approach for the triaxial reconstruction of contact forces in tactile sensor arrays using a partition algorithm that estimates forces in smaller subarrays on a flat and rigid surface. The validation of the presented approach depends on a prior verification of compliance with the centroids of traction and compression for each analysed subarray. Considering the force estimation errors, the proposed approach shows a better behaviour than similar works for single contacts in the force reconstruction for multiple contact events and when using large size sensors arrays. In addition, the application of the partitioning approach demonstrates a significant decrease in response time by reducing the number of operations that are needed for the force reconstruction calculation. Although the relative errors are still significant, the results obtained allow verifying a clear contribution to the reconstruction of contact events under processing time restrictions for sensor arrays ranging from small to large scale, that favors the development of electronic skin in robotic applications.

Paper Citation

in Harvard Style

Pinto-Salamanca M. and Pérez-Holguín W. (2021). Partitioned Reconstruction of Contact Forces in Tactile Sensor Arrays for Robotic Sensing Systems. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 182-189. DOI: 10.5220/0010716200003061

in Bibtex Style

@conference{robovis21,
author={María-Luisa Pinto-Salamanca and Wilson-Javier Pérez-Holguín},
title={Partitioned Reconstruction of Contact Forces in Tactile Sensor Arrays for Robotic Sensing Systems},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2021},
pages={182-189},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010716200003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - Partitioned Reconstruction of Contact Forces in Tactile Sensor Arrays for Robotic Sensing Systems
SN - 978-989-758-537-1
AU - Pinto-Salamanca M.
AU - Pérez-Holguín W.
PY - 2021
SP - 182
EP - 189
DO - 10.5220/0010716200003061