A method for error compensation for tactile sensors

Abstract

Contact is the fundamental interaction that occurs in manipulation. Contact information is important for many applications such as grasping and dextrous manipulation where the tactile sensor is often the only sensor modality available to monitor the process of a contact task. Moment analysis is a new method to relate the stress distribution on the tactile sensor to the contact variables causing the distribution. By analysing the error of this method, we present two possible ways to compensate for it. The simulation results show that the proposed algorithm does exhibit improved accuracy.