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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,*
1
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China
2
Department of Automation, University of Science and Technology of China, Hefei 230026, China
3
College of Electrical Engineering, Guangxi University, Nanning 530004, China
*
Authors to whom correspondence should be addressed.
Sensors 2018, 18(10), 3515; https://doi.org/10.3390/s18103515
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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