In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining the force applied on the skin provides many additional possibilities. This additional feature usually requires time-consuming calibration procedures to relate the sensor readings to the applied forces. This letter presents a novel device that enables the calibration of tactile sensor arrays in a fast and simple way. The key idea is to design a plenum chamber where the skin is inserted, and then the calibration of the tactile sensors is achieved by relating the air pressure and the sensor readings. This general concept is tested experimentally to calibrate the skin of the iCub robot. The validation of the calibration device is achieved by placing the masses of known weight on the artificial skin and comparing the applied force against the one estimated by the sensors.
翻译:在现代机器人应用中,触觉传感器阵列(即人造皮肤)是确定机器人与外部媒介接触位置的紧急解决方案。 将接触点本地化是有用的,但确定皮肤上施用的力量提供了更多的可能性。 这一额外特征通常需要花费时间的校准程序才能将感应读数与应用力联系起来。 此信提供了一个新设备, 能够快速、 简单地校准触觉感应阵列。 关键的想法是设计一个插入皮肤的圆锥体室, 然后通过将空气压力和传感器读数联系起来来校准触觉感应器。 这个一般概念是实验性测试的, 以校准iCub机器人的皮肤。 校准装置的验证是通过将已知重量的团团团放在人造皮肤上,并将应用的力量与传感器估计的力量进行比较来实现的。