A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866915042410102784 |
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| author | Kohlbrenner, Carson Escobedo, Caleb Nechyporenko, Nataliya Roncone, Alessandro |
| author_facet | Kohlbrenner, Carson Escobedo, Caleb Nechyporenko, Nataliya Roncone, Alessandro |
| contents | Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low sensing resolution is sufficient for collision detection. Introducing variable sensing resolution into a single tactile sensing array can increase the range of tactile use cases, but also invokes challenges in localizing internal sensor positions. In this work, we present a mutual capacitance sensor array with variable sensor density, VARSkin, along with a localization method that determines the position of each sensor in the non-uniform array. When tested on two distinct artificial skin patches with concealed sensor layouts, our method achieves a localization accuracy within $\pm 2mm$. We also provide a comprehensive error analysis, offering strategies for further precision improvement. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00672 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays Kohlbrenner, Carson Escobedo, Caleb Nechyporenko, Nataliya Roncone, Alessandro Robotics Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low sensing resolution is sufficient for collision detection. Introducing variable sensing resolution into a single tactile sensing array can increase the range of tactile use cases, but also invokes challenges in localizing internal sensor positions. In this work, we present a mutual capacitance sensor array with variable sensor density, VARSkin, along with a localization method that determines the position of each sensor in the non-uniform array. When tested on two distinct artificial skin patches with concealed sensor layouts, our method achieves a localization accuracy within $\pm 2mm$. We also provide a comprehensive error analysis, offering strategies for further precision improvement. |
| title | A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.00672 |