RT Journal Article
T1 An estimation of triaxial forces from normal stress tactile sensor arrays
A1 Pinto-Salamanca, María L.
A1 Castellanos-Ramos, Julián
A1 Pérez-Holguín, Wilson J.
A1 Hidalgo-López, José Antonio
K1 Electrónica
K1 Detectores
K1 Efecto Volta
K1 Detección de señales
AB This work proposes a new method to find an optimal solution of the inverse problem of the Boussinesq equation for ill-posed problems, applicable in the reconstruction of triaxial forces for processing contact data in tactile decoding systems. This paper focuses on the estimation of triaxial forces from normal stress tactile sensor arrays on flat non-deformable surfaces for single static contacts. This method estimates a triaxial force vector on the sensor coverage surface for each stress value from the relation between the stress data and the applied normal and tangential contact forces. The main contribution of this work consists of a new procedure for estimating contact forces simplifying both arithmetic operations and the optimization process used. Because of this, obtaining a force estimation has a predictable computation time, which makes this new method an attractive solution for implementation in hardware-based real-time tactile sensing systems. The verification process was conducted using a Finite Element Analysis (FEA) as a reference. When testing tactile sensors in a range of sizes and resolutions for piezoelectric and piezoresistive technologies, a maximum estimation error of 10.93% was obtained, including errors due to the array discretization.
PB Elsevier
YR 2023
FD 2023-10-04
LK https://hdl.handle.net/10630/27921
UL https://hdl.handle.net/10630/27921
LA eng
NO María L. Pinto-Salamanca, Julián Castellanos-Ramos, Wilson J. Pérez-Holguín, José A. Hidalgo-López, An estimation of triaxial forces from normal stress tactile sensor arrays, Mechatronics, Volume 96, 2023, 103070, ISSN 0957-4158, https://doi.org/10.1016/j.mechatronics.2023.103070. (https://www.sciencedirect.com/science/article/pii/S0957415823001265)
NO Funding for open access charge: Universidad de Málaga/CBUA. This work was partially supported by Universidad de Málaga-España, Gobierno de España Ministerio de Ciencia e Innovación [Contract PID2021-125091OB-I00], and Universidad Pedagógica y Tecnológica de Colombia [VIE DIN Convocatoria No 08-2021 SGI 3160].
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026