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Sensors 2015, 15(10), 26170-26197;

A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors

Universidad de Málaga, Andalucía Tech, Departamento de Electrónica, ETSI Informática, Campus de Teatinos, 29071 Málaga, Spain
Instituto de Investigación Biomédica de Málaga (IBIMA), 29010 Málaga, Spain
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 12 August 2015 / Revised: 28 September 2015 / Accepted: 9 October 2015 / Published: 15 October 2015
(This article belongs to the Section Physical Sensors)
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This paper presents a novel method to compensate for hysteresis nonlinearities observed in the response of a tactile sensor. The External Loop Adaptation Method (ELAM) performs a piecewise linear mapping of the experimentally measured external curves of the hysteresis loop to obtain all possible internal cycles. The optimal division of the input interval where the curve is approximated is provided by the error minimization algorithm. This process is carried out off line and provides parameters to compute the split point in real time. A different linear transformation is then performed at the left and right of this point and a more precise fitting is achieved. The models obtained with the ELAM method are compared with those obtained from three other approaches. The results show that the ELAM method achieves a more accurate fitting. Moreover, the involved mathematical operations are simpler and therefore easier to implement in devices such as Field Programmable Gate Array (FPGAs) for real time applications. Furthermore, the method needs to identify fewer parameters and requires no previous selection process of operators or functions. Finally, the method can be applied to other sensors or actuators with complex hysteresis loop shapes. View Full-Text
Keywords: tactile sensors; asymmetrical hysteresis nonlinearity compensation tactile sensors; asymmetrical hysteresis nonlinearity compensation

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Sánchez-Durán, J.A.; Vidal-Verdú, F.; Oballe-Peinado, Ó.; Castellanos-Ramos, J.; Hidalgo-López, J.A. A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors. Sensors 2015, 15, 26170-26197.

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