Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors

Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathem...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Zhang, Lunwei [verfasserIn] Feng, Siyuan [verfasserIn] Li, Tiemin [verfasserIn] Jiang, Yao [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2024

Schlagwörter:	Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force

Übergeordnetes Werk:	Enthalten in: Measurement - Amsterdam [u.a.] : Elsevier Science, 1983, 226
Übergeordnetes Werk:	volume:226

DOI / URN:	10.1016/j.measurement.2024.114188

Katalog-ID:	ELV066954541

Internformat


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520			\|a Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous.
650		4	\|a Vision-based tactile sensor
650		4	\|a Force reconstruction model
650		4	\|a Nonlinearity evaluation
650		4	\|a Distributed force
700	1		\|a Feng, Siyuan \|e verfasserin \|0 (orcid)0000-0003-0611-9769 \|4 aut
700	1		\|a Li, Tiemin \|e verfasserin \|4 aut
700	1		\|a Jiang, Yao \|e verfasserin \|0 (orcid)0000-0002-6036-6413 \|4 aut
773	0	8	\|i Enthalten in \|t Measurement \|d Amsterdam [u.a.] : Elsevier Science, 1983 \|g 226 \|h Online-Ressource \|w (DE-627)320404927 \|w (DE-600)2000550-7 \|w (DE-576)259484342 \|7 nnns
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912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2055
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
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Indexfelder

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matchkey_str	zhanglunweifengsiyuanlitieminjiangyao:2024----:vlaineetoadaiainfocrcntutomdlfr
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publishDate	2024
allfields	10.1016/j.measurement.2024.114188 doi (DE-627)ELV066954541 (ELSEVIER)S0263-2241(24)00072-1 DE-627 ger DE-627 rda eng 660 VZ 50.21 bkl Zhang, Lunwei verfasserin (orcid)0000-0001-7800-2821 aut Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors 2024 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous. Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force Feng, Siyuan verfasserin (orcid)0000-0003-0611-9769 aut Li, Tiemin verfasserin aut Jiang, Yao verfasserin (orcid)0000-0002-6036-6413 aut Enthalten in Measurement Amsterdam [u.a.] : Elsevier Science, 1983 226 Online-Ressource (DE-627)320404927 (DE-600)2000550-7 (DE-576)259484342 nnns volume:226 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.21 Messtechnik VZ AR 226
spelling	10.1016/j.measurement.2024.114188 doi (DE-627)ELV066954541 (ELSEVIER)S0263-2241(24)00072-1 DE-627 ger DE-627 rda eng 660 VZ 50.21 bkl Zhang, Lunwei verfasserin (orcid)0000-0001-7800-2821 aut Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors 2024 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous. Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force Feng, Siyuan verfasserin (orcid)0000-0003-0611-9769 aut Li, Tiemin verfasserin aut Jiang, Yao verfasserin (orcid)0000-0002-6036-6413 aut Enthalten in Measurement Amsterdam [u.a.] : Elsevier Science, 1983 226 Online-Ressource (DE-627)320404927 (DE-600)2000550-7 (DE-576)259484342 nnns volume:226 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.21 Messtechnik VZ AR 226
allfields_unstemmed	10.1016/j.measurement.2024.114188 doi (DE-627)ELV066954541 (ELSEVIER)S0263-2241(24)00072-1 DE-627 ger DE-627 rda eng 660 VZ 50.21 bkl Zhang, Lunwei verfasserin (orcid)0000-0001-7800-2821 aut Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors 2024 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous. Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force Feng, Siyuan verfasserin (orcid)0000-0003-0611-9769 aut Li, Tiemin verfasserin aut Jiang, Yao verfasserin (orcid)0000-0002-6036-6413 aut Enthalten in Measurement Amsterdam [u.a.] : Elsevier Science, 1983 226 Online-Ressource (DE-627)320404927 (DE-600)2000550-7 (DE-576)259484342 nnns volume:226 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.21 Messtechnik VZ AR 226
allfieldsGer	10.1016/j.measurement.2024.114188 doi (DE-627)ELV066954541 (ELSEVIER)S0263-2241(24)00072-1 DE-627 ger DE-627 rda eng 660 VZ 50.21 bkl Zhang, Lunwei verfasserin (orcid)0000-0001-7800-2821 aut Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors 2024 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous. Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force Feng, Siyuan verfasserin (orcid)0000-0003-0611-9769 aut Li, Tiemin verfasserin aut Jiang, Yao verfasserin (orcid)0000-0002-6036-6413 aut Enthalten in Measurement Amsterdam [u.a.] : Elsevier Science, 1983 226 Online-Ressource (DE-627)320404927 (DE-600)2000550-7 (DE-576)259484342 nnns volume:226 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.21 Messtechnik VZ AR 226
allfieldsSound	10.1016/j.measurement.2024.114188 doi (DE-627)ELV066954541 (ELSEVIER)S0263-2241(24)00072-1 DE-627 ger DE-627 rda eng 660 VZ 50.21 bkl Zhang, Lunwei verfasserin (orcid)0000-0001-7800-2821 aut Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors 2024 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous. Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force Feng, Siyuan verfasserin (orcid)0000-0003-0611-9769 aut Li, Tiemin verfasserin aut Jiang, Yao verfasserin (orcid)0000-0002-6036-6413 aut Enthalten in Measurement Amsterdam [u.a.] : Elsevier Science, 1983 226 Online-Ressource (DE-627)320404927 (DE-600)2000550-7 (DE-576)259484342 nnns volume:226 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.21 Messtechnik VZ AR 226
language	English
source	Enthalten in Measurement 226 volume:226
sourceStr	Enthalten in Measurement 226 volume:226
format_phy_str_mv	Article
bklname	Messtechnik
institution	findex.gbv.de
topic_facet	Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force
dewey-raw	660
isfreeaccess_bool	false
container_title	Measurement
authorswithroles_txt_mv	Zhang, Lunwei @@aut@@ Feng, Siyuan @@aut@@ Li, Tiemin @@aut@@ Jiang, Yao @@aut@@
publishDateDaySort_date	2024-01-01T00:00:00Z
hierarchy_top_id	320404927
dewey-sort	3660
id	ELV066954541
language_de	englisch
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author	Zhang, Lunwei
spellingShingle	Zhang, Lunwei ddc 660 bkl 50.21 misc Vision-based tactile sensor misc Force reconstruction model misc Nonlinearity evaluation misc Distributed force Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
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topic_title	660 VZ 50.21 bkl Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors Vision-based tactile sensor Force reconstruction model Nonlinearity evaluation Distributed force
topic	ddc 660 bkl 50.21 misc Vision-based tactile sensor misc Force reconstruction model misc Nonlinearity evaluation misc Distributed force
topic_unstemmed	ddc 660 bkl 50.21 misc Vision-based tactile sensor misc Force reconstruction model misc Nonlinearity evaluation misc Distributed force
topic_browse	ddc 660 bkl 50.21 misc Vision-based tactile sensor misc Force reconstruction model misc Nonlinearity evaluation misc Distributed force
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title	Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
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title_full	Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
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author_browse	Zhang, Lunwei Feng, Siyuan Li, Tiemin Jiang, Yao
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title_sort	evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
title_auth	Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
abstract	Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous.
abstractGer	Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous.
abstract_unstemmed	Vision-based tactile sensors can provide robots with high-resolution distributed force applied to robots’ fingertips. They reconstruct the force distribution from the measured deformation of their elastic bodies based on force reconstruction models. The force reconstruction models are various mathematical expressions to approximate the deformation-force relationship of the elastic bodies. The force reconstruction models determine the force reconstruction accuracy, modeling cost, and computational consumption of the sensor. Therefore, selecting the force reconstruction model is an important issue in the studies of vision-based tactile sensors. This study focuses on the evaluation and selection of the force reconstruction models. A method for evaluating the nonlinearity phase of the elastic body is proposed. Then, three representative force reconstruction models are evaluated, validated, and compared theoretically and experimentally under various load conditions. This study provides quantitative and theoretical guidance for selecting the force reconstruction models and makes the model selection rigorous.
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title_short	Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors
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doi_str	10.1016/j.measurement.2024.114188
up_date	2024-07-06T19:34:47.936Z
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Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors

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