Characterization and simulation of tactile sensors
Characterization and simulation of tactile sensors
复制标题
触觉传感器的表征和仿真
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Gregory Hager
中科院分区：
文献类型：
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作者：
Zachary A. Pezzementi;Erica Jantho;Lucas Estrade;Gregory Hager
触觉传感器系统（由传感器本身和覆盖它们的材料组成）的响应通过机器人实验来表征。这种响应的点扩散函数模型，开发了典型的相互作用力，允许使用图形和成像技术分别模拟和解释触觉传感器读数。该模型在软件中实现为一个通用的人工触觉传感器模拟器，其精度近似我们的测试系统的输出证明。
The response of a tactile sensor system (consisting of the sensors themselves and the material covering them) was characterized via robotic experiments. A point spread function model of this response was developed for typical interaction forces, allowing the use of graphics and imaging techniques respectively for simulating and interpreting tactile sensor readings. This model was implemented in software as a generic artificial tactile sensor simulator, and its accuracy at approximating the output of our test system is demonstrated.