Contact Force and Joint Torque Estimation Using Skin

TL;DR

This paper introduces algorithms that estimate external contact forces and joint torques solely from distributed tactile sensor data, employing interpolation to handle sensor gaps, validated on the iCub robot.

Contribution

It presents novel algorithms for contact force and joint torque estimation using skin sensors without relying on force-torque sensors.

Findings

Successful estimation of contact forces and joint torques

Interpolation effectively handles sensor gaps

Validated on the iCub humanoid robot

Abstract

In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The application of these interpolation techniques allows us to estimate contact forces and joint torques without the need for expensive force-torque sensors. Validation was performed using the iCub humanoid robot.