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Estimating Deformed Surface Displacement From Contact Pressure Distribution

Title
Estimating Deformed Surface Displacement From Contact Pressure Distribution
Authors
KIM, HYOUNG KYUNCHOI, SEUNGMOONCHUNG, WAN KYUN
Date Issued
Jul-2019
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
http://oasis.postech.ac.kr/handle/2014.oak/99856
ISSN
1552-3098
Article Type
Article
Citation
IEEE TRANSACTIONS ON ROBOTICS, vol. 35, no. 5, page. 1260 - 1267, 2019-07
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 CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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