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With robots leaving factory environments and entering less controlled domains, possibly sharing living space with humans, safety needs to be guaranteed. To this end, some form of awareness of their body surface and the space surrounding it is desirable. In this work, we present a unique method that lets a robot learn a distributed representation of space around its body (or peripersonal space) by...
Motivated by the impact of superresolution methods for imaging, we undertake a detailed and systematic analysis of localization acuity for a biomimetic fingertip and a flat region of tactile skin. We identify three key factors underlying superresolution that enable the perceptual acuity to surpass the sensor resolution: 1) the sensor is constructed with multiple overlapping, broad but sensitive receptive...
In this paper we tackle the problem of estimating the local compliance of tactile arrays exploiting global measurements from a single force and torque sensor. The proposed procedure exploits a transformation matrix (describing the relative position between the local tactile elements and the global force/torque measurements) to define a linear regression problem on the unknown local stiffness. Experiments...
Calibration continues to receive significant attention in robotics because of its key impact on performance and cost associated with the operation of complex robots. Calibration of kinematic parameters is typically the first mandatory step. To this end, a variety of metrology systems and corresponding algorithms have been described in the literature relying on measurements of the pose of the end-effector...
The paper focuses on the manufacturing technology of modular components for large-area tactile sensors, which are made of arrays of polyvinylidene fluoride (PVDF) piezoelectric polymer taxels integrated on flexible PCBs. PVDF transducers were chosen for the high electromechanical transduction frequency bandwidth (up to 1 kHz for the given application). Patterned electrodes were inkjet printed on the...
The problem of “providing robots with the sense of touch” is fundamental in order to develop the next generations of robots capable of interacting with humans in different contexts: in daily housekeeping activities, as working partners or as caregivers, just to name a few. In a low-level perspective, through tactile sensing it is possible to measure or estimate physical properties of manipulated or...
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