Contact point estimation in tactile interface using particle filter

This paper proposes intrinsic contact sensing using a particle filter. Intrinsic contact sensing is a method, which detects the contact position without any sensors on the outer shell. Force sensors are attached on the supporting point of outer shell instead. This method has been expanded to estimate contact information even without shape information. However, previous methods assume that contact points are stationary. Therefore, in this paper, we consider contact points with movements. When contact points move, it may be nonlinear. The particle filter is used to correspond to nonlinear motion. Experimental results show that the proposed method can follow the sharp movement compared with the conventional method.