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3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors

Tactile sensors have been widely used and researched in various fields of medical and industrial applications. Gradually, they will be used as new input devices and contact sensors for interactive robots. If a tactile sensor is to be applied to various forms of human–machine interactions, it needs t...

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Autores principales: Lee, Jong-il, Lee, Suwoong, Oh, Hyun-Min, Cho, Bo Ram, Seo, Kap-Ho, Kim, Min Young
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374373/
https://www.ncbi.nlm.nih.gov/pubmed/32645894
http://dx.doi.org/10.3390/s20133796
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author Lee, Jong-il
Lee, Suwoong
Oh, Hyun-Min
Cho, Bo Ram
Seo, Kap-Ho
Kim, Min Young
author_facet Lee, Jong-il
Lee, Suwoong
Oh, Hyun-Min
Cho, Bo Ram
Seo, Kap-Ho
Kim, Min Young
author_sort Lee, Jong-il
collection PubMed
description Tactile sensors have been widely used and researched in various fields of medical and industrial applications. Gradually, they will be used as new input devices and contact sensors for interactive robots. If a tactile sensor is to be applied to various forms of human–machine interactions, it needs to be soft to ensure comfort and safety, and it should be easily customizable and inexpensive. The purpose of this study is to estimate 3D contact position of a novel image-based areal soft tactile sensor (IASTS) using printed array markers and multiple cameras. First, we introduce the hardware structure of the prototype IASTS, which consists of a soft material with printed array markers and multiple cameras with LEDs. Second, an estimation algorithm for the contact position is proposed based on the image processing of the array markers and their Gaussian fittings. A series of basic experiments was conducted and their results were analyzed to verify the effectiveness of the proposed IASTS hardware and its estimation software. To ensure the stability of the estimated contact positions a Kalman filter was developed. Finally, it was shown that the contact positions on the IASTS were estimated with a reasonable error value for soft haptic applications.
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spelling pubmed-73743732020-08-06 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors Lee, Jong-il Lee, Suwoong Oh, Hyun-Min Cho, Bo Ram Seo, Kap-Ho Kim, Min Young Sensors (Basel) Article Tactile sensors have been widely used and researched in various fields of medical and industrial applications. Gradually, they will be used as new input devices and contact sensors for interactive robots. If a tactile sensor is to be applied to various forms of human–machine interactions, it needs to be soft to ensure comfort and safety, and it should be easily customizable and inexpensive. The purpose of this study is to estimate 3D contact position of a novel image-based areal soft tactile sensor (IASTS) using printed array markers and multiple cameras. First, we introduce the hardware structure of the prototype IASTS, which consists of a soft material with printed array markers and multiple cameras with LEDs. Second, an estimation algorithm for the contact position is proposed based on the image processing of the array markers and their Gaussian fittings. A series of basic experiments was conducted and their results were analyzed to verify the effectiveness of the proposed IASTS hardware and its estimation software. To ensure the stability of the estimated contact positions a Kalman filter was developed. Finally, it was shown that the contact positions on the IASTS were estimated with a reasonable error value for soft haptic applications. MDPI 2020-07-07 /pmc/articles/PMC7374373/ /pubmed/32645894 http://dx.doi.org/10.3390/s20133796 Text en © 2020 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 (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Lee, Jong-il
Lee, Suwoong
Oh, Hyun-Min
Cho, Bo Ram
Seo, Kap-Ho
Kim, Min Young
3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title_full 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title_fullStr 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title_full_unstemmed 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title_short 3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors
title_sort 3d contact position estimation of image-based areal soft tactile sensor with printed array markers and image sensors
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374373/
https://www.ncbi.nlm.nih.gov/pubmed/32645894
http://dx.doi.org/10.3390/s20133796
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