面向ERT大面积触觉传感的自适应优化成像方法OACSTPCD

In the dynamic unstructured environments,being able to sense physical contact is critical for safe in-teraction of intelligent robots.To be able to detect a variety of potential physical interactions,large-area tactile sensors need to be deployed on the robot surface.At present,existing large-area tactile sensors are mainly im-plemented through sensing arrays,but large-scale deployment of sensing elements poses huge challenges in practical applications.As a continuous sensing method,electrical resistance tomogaphy(ERT)is expected to o-vercome some of the limitations of traditional tactile sensing arrays.Therefore,a new large-area tactile sensor is designed using ERT.On this basis,an image reconstruction algorithm based on adaptive region of interest(ROI)is proposed to limit image reconstruction to the interaction area to enhance the spatial resolution of the sensor.In order to verify the effectiveness of the proposed imaging algorithm,it is comprehensively evaluated through simulation and physical experiments.The experiment verifies that this algorithm can effectively improve the spatial resolution of the tactile sensor in the interaction area,and the sensor has high measurement accura-cy.Experimental results show that the sensor has an average positioning error of 0.823 cm and can accurately identify 8 different interaction modes with an accuracy as high as 98.6%.This study shows that this sensor provides a new solution for the realization of robot embodied tactile sensing.