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A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors
This paper presents a novel method to compensate for hysteresis nonlinearities observed in the response of a tactile sensor. The External Loop Adaptation Method (ELAM) performs a piecewise linear mapping of the experimentally measured external curves of the hysteresis loop to obtain all possible int...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2015
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4634431/ https://www.ncbi.nlm.nih.gov/pubmed/26501279 http://dx.doi.org/10.3390/s151026170 |
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author | Sánchez-Durán, José A. Vidal-Verdú, Fernando Oballe-Peinado, Óscar Castellanos-Ramos, Julián Hidalgo-López, José A. |
author_facet | Sánchez-Durán, José A. Vidal-Verdú, Fernando Oballe-Peinado, Óscar Castellanos-Ramos, Julián Hidalgo-López, José A. |
author_sort | Sánchez-Durán, José A. |
collection | PubMed |
description | This paper presents a novel method to compensate for hysteresis nonlinearities observed in the response of a tactile sensor. The External Loop Adaptation Method (ELAM) performs a piecewise linear mapping of the experimentally measured external curves of the hysteresis loop to obtain all possible internal cycles. The optimal division of the input interval where the curve is approximated is provided by the error minimization algorithm. This process is carried out off line and provides parameters to compute the split point in real time. A different linear transformation is then performed at the left and right of this point and a more precise fitting is achieved. The models obtained with the ELAM method are compared with those obtained from three other approaches. The results show that the ELAM method achieves a more accurate fitting. Moreover, the involved mathematical operations are simpler and therefore easier to implement in devices such as Field Programmable Gate Array (FPGAs) for real time applications. Furthermore, the method needs to identify fewer parameters and requires no previous selection process of operators or functions. Finally, the method can be applied to other sensors or actuators with complex hysteresis loop shapes. |
format | Online Article Text |
id | pubmed-4634431 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2015 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-46344312015-11-23 A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors Sánchez-Durán, José A. Vidal-Verdú, Fernando Oballe-Peinado, Óscar Castellanos-Ramos, Julián Hidalgo-López, José A. Sensors (Basel) Article This paper presents a novel method to compensate for hysteresis nonlinearities observed in the response of a tactile sensor. The External Loop Adaptation Method (ELAM) performs a piecewise linear mapping of the experimentally measured external curves of the hysteresis loop to obtain all possible internal cycles. The optimal division of the input interval where the curve is approximated is provided by the error minimization algorithm. This process is carried out off line and provides parameters to compute the split point in real time. A different linear transformation is then performed at the left and right of this point and a more precise fitting is achieved. The models obtained with the ELAM method are compared with those obtained from three other approaches. The results show that the ELAM method achieves a more accurate fitting. Moreover, the involved mathematical operations are simpler and therefore easier to implement in devices such as Field Programmable Gate Array (FPGAs) for real time applications. Furthermore, the method needs to identify fewer parameters and requires no previous selection process of operators or functions. Finally, the method can be applied to other sensors or actuators with complex hysteresis loop shapes. MDPI 2015-10-15 /pmc/articles/PMC4634431/ /pubmed/26501279 http://dx.doi.org/10.3390/s151026170 Text en © 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Sánchez-Durán, José A. Vidal-Verdú, Fernando Oballe-Peinado, Óscar Castellanos-Ramos, Julián Hidalgo-López, José A. A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title | A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title_full | A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title_fullStr | A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title_full_unstemmed | A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title_short | A New Model Based on Adaptation of the External Loop to Compensate the Hysteresis of Tactile Sensors |
title_sort | new model based on adaptation of the external loop to compensate the hysteresis of tactile sensors |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4634431/ https://www.ncbi.nlm.nih.gov/pubmed/26501279 http://dx.doi.org/10.3390/s151026170 |
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