Contact Modelling and Tactile Data Processing for Robot Skins

Wojciech Wasko, Alessandro Albini, Perla Maiolino, Fulvio Mastrogiovanni, Giorgio Cannata, MDPI Sensors (2019)

In collaboration with University of Genova

Abstract Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about contact events. Considering a large-scale, capacitance-based robot skin technology we developed in the past few years, we analyse the classical Boussinesq–Cerruti’s solution and the Love’s approach for solving a distributed inverse contact problem, both from a qualitative and a computational perspective. Our contribution is the characterisation of the algorithms’ performance using a freely available dataset and data originating from surfaces provided with robot skin.

Contact Modelling and Tactile Data Processing for Robot Skins