Dense Tactile Force Estimation using GelSlim and inverse FEM
Name
1810.04621.pdf
Description
Accepted version
Size
4.15 MB
Format
Adobe PDF
Checksum (MD5)
968c20ffa1d627863db3e3d6483c1526
Author(s)
Ma, Daolin
Donlon, Elliott S
Dong, Siyuan
Rodriguez Garcia, Alberto
Date Issued
August 2019
Journal
2019 International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Ma, Daolin et al. "Dense Tactile Force Estimation using GelSlim and inverse FEM." 2019 International Conference on Robotics and Automation, May 2019, Montreal, Canada, August 2019. © 2019 IEEE
Version
Original manuscript
Abstract
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad due to contact. A new hardware design makes the sensor more rugged, parametrically adjusTable AND Improves illumination. leveraging the sensor's increased functionality, we propose to use inverse finite element method (ifem), a numerical method to reconstruct the contact force distribution based on marker displacements. the sensor is able to provide force distribution of contact with high spatial density. experiments and comparison with ground truth show that the reconstructed force distribution is physically reasonable with good accuracy.A sequence of Kendama manipulations with corresponding displacement field (yellow) and force field (red). Video can be found on Youtube: https://youtu.be/hWw9A0ZBZuU.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2019.8794113
