Single to Multi: Data-Driven High Resolution Calibration Method for Piezoresistive Sensor Array

被引:19
作者
Kim, Min [1 ]
Choi, Hyungmin [2 ]
Cho, Kyu-Jin [2 ]
Jo, Sungho [1 ]
机构
[1] Korea Adv Inst Sci & Technol, Sch Comp, Daejeon 305701, South Korea
[2] Seoul Natl Univ, Dept Mech Engn, Biorobot Lab, Seoul 08826, South Korea
基金
新加坡国家研究基金会;
关键词
Calibration and identification; deep learning methods; force and tactile sensing; PRESSURE; DESIGN; RUBBER;
D O I
10.1109/LRA.2021.3070823
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Accurately detecting multiple simultaneous touches is crucial for various applications using piezoresistance sensor arrays. However, calibrating them is difficult due to their nonlinearity and hysteresis. While data-driven deep learning approaches could model complex sensor patterns, the required amount of labeled data increases exponentially as the number of contact points or sensor subelements increases. In this letter, we propose a novel supervised learning framework, Local Message Passing Network, that only needs single touch data to calibrate multiple contact points into a high resolution pressure map. The individual sub-local networks eliminate domain shift problems, while a message passing mechanism enables them to correctly learn correlations between neighboring sensor subelements. The performances of the proposed model were tested on labeled single- and double-pressure data and compared with previous deep learning calibration methods. Experimental results show that our framework can expand prior knowledge of single touch data to calibrate multi-touch sensor inputs into high resolution pressure maps.
引用
收藏
页码:4970 / 4977
页数:8
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