تقرير
Single and bi-layered 2-D acoustic soft tactile skin (AST2)
| العنوان: | Single and bi-layered 2-D acoustic soft tactile skin (AST2) |
|---|---|
| المؤلفون: | Rajendran, Vishnu, Parsons, Simon, E, Amir Ghalamzan |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Artificial Intelligence |
| الوصف: | This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in achieving precise tactile feature estimation, especially concerning contact geometry characteristics, using cost-effective solutions. We hypothesise that by harnessing acoustic energy through dedicated acoustic channels in 2 layers beneath the sensing surface and analysing amplitude modulation, we can effectively decode interactions on the sensory surface, thereby improving tactile feature estimation. Our approach involves the distinct separation of hardware components responsible for emitting and receiving acoustic signals, resulting in a modular and highly customizable skin design. Practical tests demonstrate the effectiveness of this novel design, achieving remarkable precision in estimating contact normal forces (MAE < 0.8 N), 2D contact localisation (MAE < 0.7 mm), and contact surface diameter (MAE < 0.3 mm). In conclusion, the AST skin, with its innovative design and modular architecture, successfully addresses the challenge of tactile feature estimation. The presented results showcase its ability to precisely estimate various tactile features, making it a practical and cost-effective solution for robotic applications. Comment: IEEE Robosoft conference 2024 (accepted) |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2401.14292 |
| رقم الأكسشن: | edsarx.2401.14292 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |