The reliability of curvature estimates from linear elastic tactile sensors

Author

Nicolson, Edward J. ; Fearing, Ronald S.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

1126

Abstract

This papers analyzes the reliability of radius of curvature estimates from tactile sensor data. A linear elastic model is used to fit the indenter parameters, load, location, and curvature, to the sensor output. It was found that both contact models and calibration techniques could dramatically effect the bias and variance of the estimated indenter parameters. The Fourier series is found to be an appropriate basis in which to analyze both the calibration of tactile sensors and the problem of band limited shape interpretation

Keywords

Fourier series; calibration; curvature measurement; edge detection; parameter estimation; tactile sensors; Fourier series; band limited shape interpretation; bias; calibration; contact models; curvature estimates; indenter parameters; linear elastic model; linear elastic tactile sensors; Calibration; Fingers; Humans; Low pass filters; Machine vision; Performance analysis; Robot sensing systems; Rubber; Shape; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525432

Filename

525432