Intrinsic Contact Sensing for Touch Interface With Movable Structure

Intrinsic contact sensing is a method of using force sensors for separate tactile sensing without sensors arranged on the outer shell. Although the method is effective in some applications, the method has been limited to a fixed geometric shape. This study therefore proposes a method for movable structures. The contact position is estimated without geometric shape information by utilizing force/torque change over time. Additionally, this paper has proposed a method of eliminating the gravity term, which is a problem when using a structure-variable end effector as an interface. Calibration to decrease the calculation error was also introduced. Experimental evaluation using a wagon with drawers as the structure-variable object was done to verify the effectiveness of the proposed method.

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