RT Journal Article
T1 Influence of Errors in Tactile Sensors on Some High Level Parameters Used for Manipulation with Robotic Hands
A1 Sánchez-Durán, José Antonio
A1 Hidalgo-López, José Antonio
A1 Castellanos-Ramos, Julián
A1 Oballe-Peinado, Óscar
A1 Vidal-Verdú, Fernando
K1 Tacto
K1 Detectores
AB Tactile sensors suffer from many types of interference and errors like crosstalk, non-linearity, drift or hysteresis, therefore calibration should be carried out to compensate for these deviations. However, this procedure is difficult in sensors mounted on artificial hands for robots or prosthetics for instance, where the sensor usually bends to cover a curved surface. Moreover, the calibration procedure should be repeated often because the correction parameters are easily altered by time and surrounding conditions. Furthermore, this intensive and complex calibration could be less determinant, or at least simpler. This is because manipulation algorithms do not commonly use the whole data set from the tactile image, but only a few parameters such as the moments of the tactile image. These parameters could be changed less by common errors and interferences, or at least their variations could be in the order of those caused by accepted limitations, like reduced spatial resolution. This paper shows results from experiments to support this idea. The experiments are carried out with a high performance commercial sensor as well as with a low-cost error-prone sensor built with a common procedure in robotics.
PB MDPI
YR 2015
FD 2015
LK https://hdl.handle.net/10630/32694
UL https://hdl.handle.net/10630/32694
LA eng
NO Sánchez-Durán, José A., José A. Hidalgo-López, Julián Castellanos-Ramos, Óscar Oballe-Peinado, and Fernando Vidal-Verdú. 2015. "Influence of Errors in Tactile Sensors on Some High Level Parameters Used for Manipulation with Robotic Hands" Sensors 15, no. 8: 20409-20435. https://doi.org/10.3390/s150820409
NO Universidad de Málaga.Spanish Government and by the European ERDF program funds under contract TEC2012-38653.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026