A flexible tactile sensor calibration method based on an air-bearing six-dimensional force measurement platform

Huang, Bin

doi:10.1063/1.4926344

Cited by 6 publications

(4 citation statements)

References 22 publications

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“…To model (7), i.e. the taxel-specific relation between the measured raw capacitance C i measured by taxel i and the pressure P exerted on the taxel, we choose a 5th order polynomial model:…”

Section: B Model Calibrationmentioning

confidence: 99%

“…The fingers push on a plate that measures force, the data is logged and the mathematical relation between sensor value and applied force is found for each fingertip. [7] uses similar technique for a 3D force sensor in which a known force is applied on the tactile sensor in x-y-z directions to determine the relation between sensor response and the applied force in each direction. There is a limited number of papers that concentrate on calibrating larger areas of the skin.…”

Section: Introductionmentioning

confidence: 99%

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Skin normal force calibration using vacuum bags

Kangro

Traversaro

Pucci

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pressure in the bag to create a uniform pressure distribution on the skin surface. Acquisition and data processing of the bag pressure and sensors' measured capacitance allow us to characterize the relationship between the pressure and the measured capacitance of each sensor. After calibration, integration of the pressure distribution over the skin geometry provides us with the net normal force applied to the skin. Experiments are conducted using the forearm skin of the iCub humanoid robot, and validation results indicate acceptable average errors in force prediction.

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Section: B Model Calibrationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Skin normal force calibration using vacuum bags

Kangro

Traversaro

Pucci

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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show abstract

“…This method can be used as a preliminary test, after which we can use the method of comparison of equal thickness gaskets. Calibration experiment should be done before measuring the parallelism of the two planes by using the indentation measurement method [11]. In this paper, in the calibration experiment, block gauge's contact length is 45mm ,which act as the press block; Inspection plate act as the plane and the composite pad of paper is superimposed by the white paper and copying paper.…”

Section: A Methods Based On Indentation Comparisonmentioning

confidence: 99%

Research on the Parallelism Detection Between Nozzle and Floating Plate

Huang¹,

Li²,

Tao³

et al. 2016

Advances in Computer Science Research

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Abstract-In the air-floating six-axis force measurement platform, parallelism between the nozzle and the floating plate directly affects the machine's accuracy. For some reason about the structure of the flotation six-dimensional force measurement platform, we cannot use the conventional method to test on the parallelism between the nozzle and floating plate. This paper analyzes that how the parallelism between the nozzle and the floating plate affect the accuracy of flotation force measurement platform. Based on that we proposed a method of using indentation principle and equalthickness gasket principle to detect the parallelism between the nozzle and floating plate, and experiments proved the effectiveness of the proposed method, solving the problem of parallelism detection between the nozzle and the floating plate in the process of installing and commissioning the flotation six-dimensional force measurement platform.

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“…Even though the amplitude of loading forces is the same, the output values of dynamometer change at different positions. To ensure good input-output performance of the dynamometer, high accuracy calibration process should be performed first (Huang, 2015). Generally, the data linear fitting method is employed to calibrate the relationship between measured forces and actual output signals (Xie et al, 2010;Yin and Li, 2006).…”

Section: Introductionmentioning

confidence: 99%

Research on a non-linear calibration method for dynamometer

Chang

Zhang

Ren

2020

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Purpose The purpose of this paper is to solve the problem that the relationship between loading forces, which were applied at different positions on a plane, and output values of load-sharing dynamometer is non-linear. Design/methodology/approach First, the analytical model of ISPM (isodynamic surface proportional mapping method) method, which is used to calibrate dynamometer, was established. Then, a series of axial force calibration tests were performed on a load-sharing dynamometer at different loading positions. Finally, according to output values, calibration forces at different loading positions were calculated by ISPM method, and corresponding distribution histogram of calibration force error was generated. Findings The largest error between calculated force and standard force is 2.92 per cent, and the probability of calculated force error within 1 per cent is 91.03 per cent, which verify that the ISPM method is reliable for non-linear calibration of dynamometers. Originality/value The proposed ISPM method can achieve non-linear calibration between measured force and output signal of load-sharing dynamometer at different positions. In addition, ISPM method can also solve some complex non-linear problems, such as prediction of plane cutting force under the influence of multiple parameters, the force measurement of multi-degree-of-freedom platform and so on.

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A flexible tactile sensor calibration method based on an air-bearing six-dimensional force measurement platform

Cited by 6 publications

References 22 publications

Skin normal force calibration using vacuum bags

Skin normal force calibration using vacuum bags

Research on the Parallelism Detection Between Nozzle and Floating Plate

Research on a non-linear calibration method for dynamometer

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