Structures and information acquisition algorithms for three-dimensional flexible tactile sensor

The paper describes a novel structure design method of a large-scale three-dimensional flexible tactile sensor arrays based on conductive rubber. The mathematical model of the sensor is described in detail and the decoupling algorithm based on homotopy theory is proposed in this paper. Simulation results show that the sensor can achieve large-scale 3-D flexible tactile arrays measurement and easy expansion. Information acquisition algorithms of the sensor are designed to get 3-D force information accurately in real time.

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