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Open AccessArticle

A Tactile Sensor Decoupling Process

by Yuyun Xu 1,2,†, Xuekun Zhuang 1,2,†, Guangyu Hu 1,2, Hongqing Pan 1,* and Feng Shuang 1,3,*
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China
Department of Automation, University of Science and Technology of China, Hefei 230026, China
College of Electrical Engineering, Guangxi University, Nanning 530004, China
Authors to whom correspondence should be addressed.
Sensors 2018, 18(10), 3515;
Received: 4 August 2018 / Revised: 22 September 2018 / Accepted: 13 October 2018 / Published: 18 October 2018
(This article belongs to the Section Physical Sensors)
An improved hybrid homotopy method is proposed to decouple the multi-input model of tactile sensors. The time-embedded homotopy algorithm is proved to be very suitable for solving the problem. Three tracking factors that control the efficiency of the algorithm are studied: tracking operator, stepsize, and accuracy. Trust region methods are applied to track the zero paths instead of the traditional differential algorithm, and a periodic sampling method is proposed to improve the efficiency of the algorithm. Numerical experiments show that both the robustness and accuracy have received a huge boost after the hybrid algorithm is applied. View Full-Text
Keywords: homotopy; tactile sensors; trust-region dogleg; decoupling process homotopy; tactile sensors; trust-region dogleg; decoupling process
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Xu, Y.; Zhuang, X.; Hu, G.; Pan, H.; Shuang, F. A Tactile Sensor Decoupling Process. Sensors 2018, 18, 3515.

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