FEMを用いたソフトバブル視触覚センサの3次元力・接触推定
3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM
ソフトバブル触覚センサの内部RGBDカメラと気圧センサから、有限要素モデルに基づいて密な接触力（法線・せん断）を再構成する手法を提案し、従来法より高精度に推定できることを示した。
著者: Jing-Chen Peng, Shaoxiong Yao, Kris Hauser
分類: cs.RO
原文アブストラクト
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local contacts change the global surface shape significantly due to membrane mechanics and air pressure. This paper presents a model-based method of reconstructing dense contact forces from the bubble sensor's internal RGBD camera and air pressure sensor. We present a finite element model of the force response of the bubble sensor that uses a linear plane stress approximation that only requires calibrating 3 variables. Our method is shown to reconstruct normal and shear forces significantly more accurately than the state-of-the-art, with comparable accuracy for detecting the contact patch, and with very little calibration data.
