IEEE - Institute of Electrical and Electronics Engineers, Inc. - Contact Force and Joint Torque Estimation Using Skin

Author(s): Francisco Javier Andrade Chavez ; Joan Kangro ; Silvio Traversaro ; Francesco Nori ; Daniele Pucci
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,900 - 3,907
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2856914
Regular:

In this letter, we present algorithms to estimate contact locations, external forces, and joint torques using skin, i.e., distributed tactile sensors, kinematic sensors, and a single Inertial... View More

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