Hysteresis correction of tactile sensor response with a generalized Prandtl-Ishlinskii model

José A. Sánchez-Durán; Óscar Oballe-Peinado; Julián Castellanos-Ramos; Fernando Vidal-Verdú

doi:10.1117/12.886744

5 May 2011 Hysteresis correction of tactile sensor response with a generalized Prandtl-Ishlinskii model

José A. Sánchez-Durán, Óscar Oballe-Peinado, Julián Castellanos-Ramos, Fernando Vidal-Verdú

Proceedings Volume 8066, Smart Sensors, Actuators, and MEMS V; 80662L (2011) https://doi.org/10.1117/12.886744
Event: SPIE Microtechnologies, 2011, Prague, Czech Republic

Abstract

Tactile sensors are basically arrays of force sensors. Most of these force sensors are made of polymers or conductive rubbers to lower the cost, especially in the case of large area low-medium resolution tactile sensors. The price to pay for such decrease in the cost and complexity is a worse performance. Hysteresis and drift are the two main sources of error. This paper presents a method to reduce the error caused by hysteresis. This method is based on the generalized Prandtl- Ishlinskii model that has been applied to characterize hysteresis and saturation nonlinearities in smart actuators. The classical Prandtl-Ishlinskii model is not suitable because the lack of symmetry the output curves from the sensor show. Other alternatives like the Preisach model are too complex to implement, especially taking into account that a tactile sensor provides many data to process. The approximation error depends on several parameters as well as on the envelope functions that are chosen. Different alternatives are explored in the paper. Moreover, the model can also be inverted. This inverted model allows obtaining the force values from the tactile sensor output while reducing the errors caused by hysteresis. Since implementations of tactile sensors usually have the electronics close to the raw sensor, and this hardware is also commonly based on a microcontroller or even on a FPGA, it is possible to add the algorithms presented in this paper to the set of compensation and calibration procedures to run in the smart sensor.

Citation Download Citation

José A. Sánchez-Durán, Óscar Oballe-Peinado, Julián Castellanos-Ramos, and Fernando Vidal-Verdú "Hysteresis correction of tactile sensor response with a generalized Prandtl-Ishlinskii model", Proc. SPIE 8066, Smart Sensors, Actuators, and MEMS V, 80662L (5 May 2011); https://doi.org/10.1117/12.886744

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