RT Journal Article
T1 Proposal and implementation of a procedure for compliance recognition of objects with smart tactile sensors
A1 Lora Rivera, Raúl
A1 Oballe-Peinado, Óscar
A1 Vidal-Verdú, Fernando
K1 Reconocimiento óptico de formas (Informática)
K1 Detectores ópticos
AB This paper presents a procedure for classifying objects based on their compliance with information gathered using tactile sensors. Specifically, smart tactile sensors provide the raw moments of the tactile image when the object is squeezed and desqueezed. A set of simple parameters from moment-versus-time graphs are proposed as features, to build the input vector of a classifier. The extraction of these features was implemented in the field programmable gate array (FPGA) of a system on chip (SoC), while the classifier was implemented in its ARM core. Many different options were realized and analyzed, depending on their complexity and performance in terms of resource usage and accuracy of classification. A classification accuracy of over 94% was achieved for a set of 42 different classes. The proposed approach is intended for developing architectures with preprocessing on the embedded FPGA of smart tactile sensors, to obtain high performance in real-time complex robotic systems.
PB MDPI
YR 2023
FD 2023-04-19
LK https://hdl.handle.net/10630/27007
UL https://hdl.handle.net/10630/27007
LA eng
NO Lora-Rivera R, Oballe-Peinado Ó, Vidal-Verdú F. Proposal and Implementation of a Procedure for Compliance Recognition of Objects with Smart Tactile Sensors. Sensors. 2023; 23(8):4120. https://doi.org/10.3390/s23084120
NO This work was funded by the Spanish Government with a FPU grant given by the Min isterio de Ciencia, Innovacion y Universidades and by the European ERDF program funds under contract PID2021-125091OB-I00.Partial funding for open access charge: Universidad de Málaga
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026