Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation
Abstract
:1. Introduction
2. Design of the Force/Tactile Sensor
2.1. Requirements for Dexterous Manipulation
2.2. The Working Principle and the Technology
2.3. Detailed Design of the Rigid-Flex PCB
2.4. Detailed Design of the Deformable Pad
2.5. Integration of the Sensor into a Commercial Gripper
3. Sensor Calibration
3.1. Construction of the Training Set
3.2. Training Set Pre-Processing
function [ inputs , targets ,mask_keep ] . . . = decimation( inputs , targets , radius ) % Bubble-based decimation function , % Ts = {( inputs _ i , targets _ i ) } %Initialization radius_square = radius ^2; mask_keep = false ( 1 , size ( inputs , 2 ) ) ; mask_not_computed = ~mask_keep ; %Repeat until process all samples while any (mask_not_computed ) actual_index = find (mask_not_computed , 1 ) ; mask_keep ( actual_index ) = true ; mask_not_computed ( actual_index ) = false ; mask_not_computed (mask_not_computed ) = . . . sum( ( inputs ( : , mask_not_computed ) . . . − inputs ( : , actual_index ) ) .^2 . . . ) > radius_square ; end %select only good samples inputs = inputs ( : , mask_keep ) ; targets = targets ( : , mask_keep ) ; end
3.3. FF-NN Training
4. Experimental Validation
4.1. Reconstruction of the Normal Force Component
4.2. Reconstruction of the Tangential Force Components
4.3. Assessment of Sensor Sensitivity and Dynamic Range
4.4. Reconstruction of the Contact Plane Orientation
4.5. Reconstruction of the Torsional Moment
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Costanzo, M.; De Maria, G.; Natale, C.; Pirozzi, S. Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation. Sensors 2019, 19, 966. https://doi.org/10.3390/s19040966
Costanzo M, De Maria G, Natale C, Pirozzi S. Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation. Sensors. 2019; 19(4):966. https://doi.org/10.3390/s19040966
Chicago/Turabian StyleCostanzo, Marco, Giuseppe De Maria, Ciro Natale, and Salvatore Pirozzi. 2019. "Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation" Sensors 19, no. 4: 966. https://doi.org/10.3390/s19040966
APA StyleCostanzo, M., De Maria, G., Natale, C., & Pirozzi, S. (2019). Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation. Sensors, 19(4), 966. https://doi.org/10.3390/s19040966