Contact Position Estimation Algorithm using Image-based Areal Touch Sensor based on Artificial Neural Network Prediction

Abstract

In this paper, we propose an artificial neural network fitting model to estimate contact position an image-based areal touch sensor (IATS) with soft physical contact. First, the principle of the proposed artificial neural network fitting model for contact position estimation is described. Then, the structure of the IATS for verifying the algorithm is described. Second, an experiment was conducted to verify the model. Experimental data was obtained and analyzed for accuracy. Accuracy is estimated based on the relative error rate to show the accuracy between actual and estimated contact positions. As a result, the accuracy for each axis is as follows. The accuracy for the X-axis is 86.7% on average and the accuracy for the Y-axis is 96.5% on average. The depth accuracy is 94.9%. It is analyzed to solve various problems and it is expected that it will be possible to develop a sensor with accuracy similar to the actual contact position in the future.

3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors

“…We developed an image-based soft tactile sensor using a small camera and general soft materials with attached array markers, which showed the deformations on the sensor surface [ 17 , 18 , 19 ]. Certain researchers have investigated image-based tactile sensors with soft materials [ 20 , 21 , 22 , 23 , 24 , 25 , 26 ]. The methods proposed in [ 20 , 21 , 22 ] require specific transparent elastic materials in which micro plastic beads for markers are exquisitely placed.…”

“…Certain researchers have investigated image-based tactile sensors with soft materials [ 20 , 21 , 22 , 23 , 24 , 25 , 26 ]. The methods proposed in [ 20 , 21 , 22 ] require specific transparent elastic materials in which micro plastic beads for markers are exquisitely placed. The tactile sensor introduced in [ 23 , 24 ] needs to be filled with a specific fluid or water, which is carefully sealed with a silicon rubber and transparent plate.…”