US 12,449,326 B2
System and method for providing tactile sensor calibration
Sergio Aguilera, Atlanta, GA (US); and Rana Soltani Zarrin, Los Gatos, CA (US)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Nov. 29, 2022, as Appl. No. 18/071,035.
Claims priority of provisional application 63/407,381, filed on Sep. 16, 2022.
Prior Publication US 2024/0094081 A1, Mar. 21, 2024
Int. Cl. G01L 25/00 (2006.01)
CPC G01L 25/00 (2013.01) 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for providing tactile sensor calibration, comprising:
receiving force data from a force/torque sensor and tactile data from a plurality of taxels of a tactile sensor pad;
interpolating the force data and the tactile data and pre-processing the interpolated data to align the force data and the tactile data to match data points;
dividing the matched data points into individual interactions and computing a linear regression for each segment that is associated with each interaction, wherein a center of pressure of an applied force is computed based on the linear regression for each segment;
determining an amount of force that is absorbed by the tactile sensor pad based on a conversion of tactile measurements sensed by the plurality of taxels into Newtons based on the linear regression computed for each segment; and
calibrating the tactile sensor pad using the linear regression computed for each segment to enable force measurement across the plurality of taxels of the tactile sensor pad; and
controlling a robotic hand that includes the tactile sensor pad based on the calibrated force measurements.