Real-time reconstruction of contact shapes for large area robot skin

Tactile sensing is considered a key technology for implementing complex robot interaction tasks. The contribution of this article is two-fold: (i) we propose a general-purpose algorithm for the reconstruction of deformation and force distributions for capacitance-based skin-like systems; (ii) real-t...

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Bibliographic Details
Main Authors: Muscari, Luca, Seminara, Lucia, Mastrogiovanni, Fulvio, Valle, Maurizio, Capurro, Marco, Cannata, Giorgio
Format: Conference Proceeding
Language:English
Subjects:
Capacitance
Force
Robot sensing systems
Shape
Skin
Stress
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Online Access:Request full text
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Summary:Tactile sensing is considered a key technology for implementing complex robot interaction tasks. The contribution of this article is two-fold: (i) we propose a general-purpose algorithm for the reconstruction of deformation and force distributions for capacitance-based skin-like systems; (ii) real-time performance can be tuned according to available computational resources, which leads to an any-time formulation. Experiments (both in simulation and with real robot skin) provide a quantitative analysis of results.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2013.6630897