Estimating Deformed Surface Displacement From Contact Pressure Distribution
SCIE
SCOPUS
- Title
- Estimating Deformed Surface Displacement From Contact Pressure Distribution
- Authors
- KIM, HYOUNG KYUN; CHOI, SEUNGMOON; CHUNG, WAN KYUN
- Date Issued
- 2019-07
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Abstract
- Displacement information is essential in many robotic applications involving contact, especially with viscoelastic objects. In this paper, we provide a novel displacement estimation method using contact pressure distribution. Our method can estimate displacement using only a typical tactile sensor, which can be shared by a force measurement. As a result, our method can reduce the number of required sensors for stiffness estimation, so it is suitable for stiffness-required applications with strict spatial constraints. Simulation and experimental results demonstrate the performance of our method.
- Keywords
- Haptic interfaces; Robotics; Stiffness; Contact modeling; Contact pressure distribution; Displacement estimation; Displacement information; Haptics and haptic interfaces; Robotic applications; Surgical robotics; Tactile sensing; Pressure distribution
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/99856
- DOI
- 10.1109/TRO.2019.2921197
- ISSN
- 1552-3098
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, vol. 35, no. 5, page. 1260 - 1267, 2019-07
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