Haptic Localization with a Soft Whisker from Moment Readings at the Base
This article focuses on haptic localization of very lightweight and delicate objects while
applying a contact force> 5000 times lower than the weight of the object. A soft whisker
integrated with a Force/Moment (F/M) sensor at the base, and a novel reconstruction
algorithm have been proposed for this purpose. Initially, the mathematical relationships
between the deformations of the whisker and the F/M sensor outputs were used to
reconstruct the shape of the whisker and the position of the touched object. The Cosserat …
applying a contact force> 5000 times lower than the weight of the object. A soft whisker
integrated with a Force/Moment (F/M) sensor at the base, and a novel reconstruction
algorithm have been proposed for this purpose. Initially, the mathematical relationships
between the deformations of the whisker and the F/M sensor outputs were used to
reconstruct the shape of the whisker and the position of the touched object. The Cosserat …
Haptic Localization with a Soft Whisker from Moment Readings at the Base
M Sheikhsofla, S Vayakkattil, M Calisti - repository.lincoln.ac.uk
This paper focuses on haptic localization of very lightweight and delicate objects while
applying a contact force more than 5000 times lower than the weight of the object. A soft
whisker integrated with a Force/Moment (F/M) sensor at the base and a novel reconstruction
algorithm have been proposed for this purpose. Initially, the mathematical relationships
between the deformations of the whisker and the F/M sensor outputs were used to
reconstruct the shape of the whisker and the position of the touched object. The Cosserat …
applying a contact force more than 5000 times lower than the weight of the object. A soft
whisker integrated with a Force/Moment (F/M) sensor at the base and a novel reconstruction
algorithm have been proposed for this purpose. Initially, the mathematical relationships
between the deformations of the whisker and the F/M sensor outputs were used to
reconstruct the shape of the whisker and the position of the touched object. The Cosserat …
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