Abstract
Tactile sensors are basically arrays of force sensors. Most of these force sensors are made of polymers or conductive rubber at lower cost, especially in the case of large area low-medium resolution tactile sensors. The consequence of such a decrease in cost and complexity is a worsening in performance. Hysteresis and drift are two main sources of error. Other tactile sensors do not present such limitations per se, however they are covered by a protective elastic layer in their final location and this covering can also lead to limitations. This paper presents a method to reduce the error caused by hysteresis in tactile sensors. This method is based on the generalized Prandtl–Ishlinskii model that has been applied to characterize hysteresis and saturation nonlinearities in smart actuators. The approximation error depends on several parameters as well as on the envelope functions that are chosen. Different alternatives are explored in the paper. Moreover, the model can also be inverted. This inverse model allows the force values to be obtained from the tactile sensor output while reducing the errors caused by hysteresis. In this paper the results of such an inversion are compared with other alternatives to register the data that do not compensate hysteresis. The average value of the hysteresis error measured in the experimental curve is 7.20% for an input range of 206 kPa, while this error is 1.51% following the compensation procedure. Since the implementation of tactile sensors usually results in the electronics being close to the raw sensor, and this hardware is also commonly based on a microcontroller or even on a FPGA, it is possible to add the algorithms presented in this paper to the set of compensation and calibration procedures to run in the smart sensor.
Similar content being viewed by others
References
Al Janaideh M, Rakheja S, Su C-Y (2009) A generalized Prandtl–Ishlisnkii model for characterizing the hysteresis and saturation nonlinearities of smart actuators. Smart Mater Struct 18(4):045001. doi:10.1088/0964-1726/18/4/045001
Al Janaideh M, Rakheja S, Su C-Y (2010) An analytical generalized Prandtl–Ishlinskii model inversion for hysteresis compensation in micropositioning control. IEEE/ASME Trans Mechatro 16(4):734–744. doi:10.1109/TMECH.2010.2052366
Brokate M, Sprekels J (1996) Hysteresis and phase transitions. Springer-Verlag, New York
Castellanos-Ramos J, Navas-González R, Macicior H, Sikora T, Ochoteco E, Vidal-Verdú F (2010) Tactile sensors based on conductive polymers. Microsyst Technol 16(5):765–776. doi:10.1007/s00542-009-0958-3
Kuhnen K, Janocha H (2001) Inverse feedfordward controller for complex hysteretic nonlinearities in smart-material systems. Control Intell Sys 29(3):74–83
Oballe-Peinado O, Castellanos-Ramos J, Hidalgo-López JA, Vidal-Verdú F (2009) Direct interfaces for smart skins based on FPGAs. Proc SPIE 7365:73650C. doi:10.1117/12.821642
Sánchez-Durán J A, Hidalgo-López J A, Vidal-Verdú F, Ochoteco E (2010) Experimental evaluation of the incidence of tactile sensor limitations on application parameters. In: IEEE Instrumentation and Measurement Society, Sensors Application Symposium (SAS) 175–178. doi: 10.1109/SAS.2010.5439424
Sánchez-Durán JA, Oballe-Peinado O, Castellanos-Ramos J, Vidal-Verdú F (2011) Hysteresis correction of tactile sensor response with a generalized Prandtl–Ishlinskii model. Proc SPIE 8066:80662L. doi:10.1117/12.886744
Vidal-Verdú F, Oballe-Peinado O, Sánchez-Durán JA, Castellanos-Ramos J, Navas-González R (2011) Three realizations and comparison of hardware for piezoresistive tactile sensors. Sensors 11(3):3249–3266
Visintin A (1994) Differential models of hysteresis. Springer-Verlag, Berlin
Visone C (2008) Hysteresis modeling and compensation for smart sensors and actuators. J Phys Conf Ser 138:1–24. doi: 10.1088/1742-6596/138/1/012028
Zareinejad M, Rezaei SM, Ghidary SS, Abdullah A, Motamedi M (2009) Robust impedance control of a piezoelectric stage under thermal and external load disturbances. Control Cybern 38(3):635–648
Acknowledgments
This work has been partially funded by the Spanish government under contract TEC2009-14446-C02.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Sánchez-Durán, J.A., Oballe-Peinado, Ó., Castellanos-Ramos, J. et al. Hysteresis correction of tactile sensor response with a generalized Prandtl–Ishlinskii model. Microsyst Technol 18, 1127–1138 (2012). https://doi.org/10.1007/s00542-012-1455-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00542-012-1455-7