Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors

Development of a Soft Tactile Sensor Array for Contact Localization Estimations

“…Soft tactile sensors are mainly designed using biological inspiration from human skin, which has distributed mechanical receptors that can sense force, stiffness, temperature, texture, and vibration [8], [9], [10]. These sensors are based on optical [11], [12], [13], [14], resistive [15], [16], [17], capacitive [18], [19], [20], [21], magnetic [22], [23], [24], [25], inductive [26], [27], [28] and piezoelectric [29], [30], [31], [32], [33] principles. Besides these soft tactile sensors, vision-based sensors are also used for tactile perception in robotics [34], [35], [36], [37], [38], [39].…”

“…The results were given qualitatively, showing only specified locations. Dawood et al [13] developed soft optical-based sensor skin. They used 24 emitters and 24 receiver optical fibers.…”

“…As an example, the standard deviation, S Px , of the force position in the x-direction, P 1X , using the mean position in the X-axis, P MX , is calculated as in (12) where n is for the number of logs. The standard deviation for two attributes (target and each predictor) is calculated using (13), where c represents a case in a predictor class (for example, voltage values lower than 1 V). P(c) is for the probability of the element c, and S(c) is the ratio between the count of c and the count of all elements in a predictor (frequency of the case in the predictor class).…”