3 accepted papers
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining the force applied on the skin provides many additional possi
In this letter, we present algorithms to estimate contact locations, external forces, and joint torques using skin, i.e., distributed tactile sensors, kinematic sensors, and a single Inertial Measurement Unit (IMU) without the need for force-torque sensors. Distributed tactile sensors are an array o
This paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The main idea of the method consists of inserting the skin, made of distributed capacitive sensors, in a vacuum bag and then decreasing the pressure in the bag to create a uniform pressure distribution on the skin sur…