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Skin Normal Force Calibration Using Vacuum Bags
[article]
2016
arXiv
pre-print
The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pressure in the bag to create a uniform pressure distribution on the skin surface. Acquisition and data processing of the bag pressure and sensors' measured capacitance allow us to characterize the relationship between the pressure and the measured capacitance of each sensor. After calibration, integration of the
arXiv:1609.09720v1
fatcat:bvxxvsznejg7fforq22iasctsy