Research on Haptic Information Extraction Methods for Optical Tactile Sensors Based on Residual Network
Optical tactile sensor is a kind of sensor that collects optical images by camera or optical fiber and extracts haptic information by image processing method.To solve the problem of mapping from image to haptic information for a flexible grating-based optical tactile sensor,a set of haptic information extraction method based on residual network was designed,By exploring different data acquisition methods and image preprocessing methods,the prediction accuracy of the contact coordinates and normal force reaches 60 μm and 3 mN,and the effect of different factors on network prediction was discussed.This provides an efficient and high-precision haptic extraction mode for structured color based optical tactile sensors.
flexible gratingoptical tactile sensorresidual networkhaptic information extraction
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