EasyCalib: Simple and Low-Cost In-Situ Calibration for Force Reconstruction with Vision-Based Tactile Sensors
CoRR(2024)
摘要
For elastomer-based tactile sensors, represented by visuotactile sensors,
routine calibration of mechanical parameters (Young's modulus and Poisson's
ratio) has been shown to be important for force reconstruction. However, the
reliance on existing in-situ calibration methods for accurate force
measurements limits their cost-effective and flexible applications. This
article proposes a new in-situ calibration scheme that relies only on comparing
contact deformation. Based on the detailed derivations of the normal contact
and torsional contact theories, we designed a simple and low-cost calibration
device, EasyCalib, and validated its effectiveness through extensive finite
element analysis. We also explored the accuracy of EasyCalib in the practical
application and demonstrated that accurate contact distributed force
reconstruction can be realized based on the mechanical parameters obtained.
EasyCalib balances low hardware cost, ease of operation, and low dependence on
technical expertise and is expected to provide the necessary accuracy
guarantees for wide applications of visuotactile sensors in the wild.
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关键词
Force and tactile sensing,contact modeling,haptics and haptic interfaces
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