High-precision tactile sensing metrology device based on embedded dynamic control and its application

Abstract

The performance characterization of tactile sensing is hindered by a lack of standardized methods for critical parameters such as dynamic force range, environmental adaptability, and resolution, which limits their broader application. In the paper, a tactile sensing metrology equipment integrating embedded closed-loop control and adaptive PID algorithm is proposed. The system can achieve precise output and regulation of broadband dynamic force (0–10 Hz), and has been successfully calibrated across a temperature range of −20–60℃ and relative humidity of 30–80%. The minimum stable output dynamic force reaches 10 mN, the force resolution is 0.1 mN, and the relative standard uncertainty is ≤1.53%. This apparatus enables standardized and quantitative evaluations of static and dynamic characteristics of tactile sensors. It has substantial prospects in fields such as intelligent manufacturing and medical tactile sensing.