Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation
Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation
复制标题
DOI：
10.1109/cbs55922.2023.10115342
复制
发表时间：
2022-12
期刊：
影响因子：
--
通讯作者：
Yaonan Zhu;Shukrullo Nazirjonov;Bin Jiang;Jacinto E. Colan Zaita;T. Aoyama;Y. Hasegawa;B. Belousov
中科院分区：
文献类型：
--
作者：
Yaonan Zhu;Shukrullo Nazirjonov;Bin Jiang;Jacinto E. Colan Zaita;T. Aoyama;Y. Hasegawa;B. Belousov
基于视觉的触觉传感器在机器人领域得到了广泛的关注。这些传感器被寄予很高的期望，能够在手操作过程中提取接触信息，即触觉信息。触觉传感器的这一特性使其成为触觉反馈应用的完美匹配。在本文中，我们提出了一种基于视觉的触觉传感器数字[1]的接触力估计方法，并将其应用于力反馈的位置力遥操作结构中。力的估计是通过(1)建立数字凝胶表面变形测量的深度图，以及(2)对估计的深度数据和地面真实力数据应用回归算法来获得深度-力关系。实验中以触觉装置为领头机器人，并联机器人夹持器为从动机器人，构建了抓持力反馈系统，将数字传感器连接到机器人夹持器的尖端以估计接触力。初步实验结果表明，这种低成本的视觉传感器可以用于力反馈应用。
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT [1], and apply it to a position-force teleoperation architecture for force feedback. The force estimation is carried out by (1) building a depth map for DIGIT gel’s surface deformation measurement, and (2) applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.