Abstract
a surface recognition algorithm capable of determining contact surfaces types by means of tactile sensor fusion is proposed. The authors present a recognition processes for 3-dimensional deformations in a 2-dimensional parametric domain. Tactile information is extracted by physical contact with a grasped object through a sensing medium. Information is obtained directly at the interface between the object and the sensing device and relates to three-dimensional position and orientation of the object in the presence of noise. The technique called “eigenvalue trajectory analysis”, is introduced and adopted for specifying the margin of classification and classification thresholds. The authors demonstrate mathematically that this approach, which complements existing work, offers significant computational advantages when applied to challenging contact scenarios such as dynamic recognition of contact deformations.
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Petchartee, S., Monkman, G., Suebsomran, A. (2008). 3D-Shape Recognition Based Tactile Sensor. In: Mukhopadhyay, S.C., Gupta, G.S. (eds) Smart Sensors and Sensing Technology. Lecture Notes Electrical Engineering, vol 20. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79590-2_21
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DOI: https://doi.org/10.1007/978-3-540-79590-2_21
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