2011
DOI: 10.1109/jsen.2010.2104316
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Robust Slippage Degree Estimation Based on Reference Update of Vision-Based Tactile Sensor

Abstract: In this paper, we propose a new slippage degree estimation method of a vision-based tactile sensor. The advantage of the vision-based tactile sensor is simultaneous acquisition of the slippage degree, a multidimensional force and a moment. A CCD camera captures the sensor surface which has regularly arrayed dots. The slippage degree on the sensor surface is determined by the stick ratio obtained from the displacements of dots in the captured images. In our previous work [1], the stick ratio was successfully ap… Show more

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Cited by 46 publications
(37 citation statements)
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“…The contact region in this case is a circle. Xydas et al and Kao et al analyzed the stiffness and contact mechanics of soft fingers based on the relationship of the Hertzian contact model [22,23]. Their approach calculates the relationship between the radius of a contact region and normal force, which is given as follows:…”
Section: Methods For Measuring Normal Forcementioning
confidence: 99%
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“…The contact region in this case is a circle. Xydas et al and Kao et al analyzed the stiffness and contact mechanics of soft fingers based on the relationship of the Hertzian contact model [22,23]. Their approach calculates the relationship between the radius of a contact region and normal force, which is given as follows:…”
Section: Methods For Measuring Normal Forcementioning
confidence: 99%
“…We used the relative displacement of each dot to the object between the reference image and the current image. The reference image is a previously captured image, such as the initial image taken before testing, which is appropriately updated [22]. Figure 7 shows the displacement of the dots between the reference and current images.…”
Section: Methods For Estimating Stick Ratiomentioning
confidence: 99%
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