The reliability of curvature estimates from linear elastic tactile sensors

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