{'fraction_non_alphanumeric': 0.015056461731493099, 'fraction_numerical': 0.0, 'mean_word_length': 4.955223880597015, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Tactile sensor pad: shape recognition

Most robot tactile sensing research has focused on object shape recognition with tactile sensors. In this paper we examine the model of a tactile pad sensor, assumed to be a finite dimension medium. The model of the tactile pad sensor is obtained using an integral relation between the boundary conditions and the stress tensor. A set of stress sensors is allocated in the tactile pad, the model is discretized and a direct relation between the parameters of the shape to be recognized and the measured stress is obtained. Due to the ill-posedness of the problem, classical least squares estimation and regularized estimation are examined. Numerical simulations in order to evaluate the inversion technique with different shapes of the object, are presented.