The design of a flexible digit towards wireless tactile sense feedback

Peter, Ildiko; Holding, D.J.; Blow, K.J.; Tam, Betty; Ma, Xianghong; Brett, PN

doi:10.1109/icarcv.2004.1468870

Cited by 6 publications

(5 citation statements)

References 12 publications

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“…First, we discuss the application of this technology to a onedimensional system, which was developed as a step towards the ultimate aim of providing an endoscope with tactile sensitivity [21], and compare the performance of FBG strain sensors with that of conventional resistive strain gauges.…”

Section: One-dimensional Tactile Sensing Systemmentioning

confidence: 99%

Fibre Bragg grating sensors for distributive tactile sensing

Cowie¹,

Webb²,

Tam³

et al. 2006

Meas. Sci. Technol.

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Distributive tactile sensing is a method of tactile sensing in which a small number of sensors monitors the behaviour of a flexible substrate which is in contact with the object being sensed. This paper describes the first use of fibre Bragg grating sensors in such a system. Two systems are presented: the first is a one-dimensional metal strip with an array of four sensors, which is capable of detecting the magnitude and position of a contacting load. This system is favourably compared experimentally with a similar system using resistive strain gauges. The second system is a two-dimensional steel plate with nine sensors which is able to distinguish the position and shape of a contacting load, or the positions of two loads simultaneously. This system is compared with a similar system using 16 infrared displacement sensors. Each system uses neural networks to process the sensor data to give information concerning the type of contact. Issues and limitations of the systems are discussed, along with proposed solutions to some of the difficulties.

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Section: One-dimensional Tactile Sensing Systemmentioning

confidence: 99%

Fibre Bragg grating sensors for distributive tactile sensing

Cowie¹,

Webb²,

Tam³

et al. 2006

Meas. Sci. Technol.

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“…Baglio et al [ 9 ] used the fuzzy logic method to identify the characteristic signals in the unknown surface of a tactile sensor system. Petra et al [ 10 ] applied a BP neural network to improve a distributed tactile sensor system, and realized the decoupling circuit of the BP network based on hardware structure. Schram et al [ 11 ] proposed the optimal parity vector method to calibrate and diagnose array sensors.…”

Section: Introductionmentioning

confidence: 99%

A Tactile Sensor Decoupling Process

Zhuang

et al. 2018

Sensors

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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.

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“…A triaxial force decoupling algorithm was developed by combining two-dimensional mapping data calculated by finite element analysis, which is able to measure the triaxial forces only using four strain gauges. Petra et al [15] improved the distributed tactile sensor system based on BPNN and realized the decoupling circuit based on hardware equipment. Chen et al [16] put forward a kind of data decoupling algorithm for the overvoltage sensor based on interphase coupling theory, which is simple and practical and has high precision.…”

Section: Introductionmentioning

confidence: 99%

Structure Analysis and Decoupling Research of a Novel Flexible Tactile Sensor Array

et al. 2015

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This paper presents a novel flexible tactile sensor structure and proposes an efficient decoupling algorithm for the tactile sensor. Firstly, structure of the sensor model is introduced, and the sensing mechanism of the sensor array based on force-sensitive conductive rubber is analyzed. Then the mapping relation between the resistances of conductive pillars and the three-dimensional force is deduced. After that, the force applied on the tactile sensor is decoupled from the resistance information by the improved Back Propagation Neural Network (BPNN) algorithm with the number of hidden layer nodes optimized. The flexible tactile sensor model achieves the decomposition of the three-dimensional information from the structure with its unique design, avoids the direct interference between electrodes of the sensor array, reduces the structural complexity and the nonlinear degree, improves the decoupling accuracy, and accelerates the decoupling rate.

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The design of a flexible digit towards wireless tactile sense feedback

Cited by 6 publications

References 12 publications

Fibre Bragg grating sensors for distributive tactile sensing

Fibre Bragg grating sensors for distributive tactile sensing

A Tactile Sensor Decoupling Process

Structure Analysis and Decoupling Research of a Novel Flexible Tactile Sensor Array

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