コーティング式触覚センサの開発

―逆伝達関数で増幅される高周波ノイズの抑制による精度の向上―

抄録

In this paper, we explain the way to improve the accuracy of the contact position estimation for the spray-coated tactile sensor. In the contact position estimation, the inverse transfer function between the input and output signals is used to estimate the input signal. The inverse transfer function amplifies high frequency noise, and this makes it difficult to estimate the contact position accurately. In order to solve this problem, two Savitzky Golay filters (SG filters) were applied to the output signal and estimated input signal in the previous study. In this study, we investigate the accuracy effect of noise reduction and contact position estimation by applying SG filter. In addition, we use a Butterworth to reduce the noise with a small amount of computation, and we verify the accuracy of estimated contact position.