Kinematic Model of 3D Tactile Sensing on Robotic Surfaces

Abstract

This paper discusses a matrix based algorithm to sense unknown forces acting on a 3D tactile skin consisting of thin film force sensors. The skin can be mounted on any robotic system to measure forces acting on the robot’s surface upon contact. The paper describes a kinematic model of the forces acting on the skin, stiffness of the skin and an analytical… (More)

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