Core Concepts
Proposing EasyCalib for accurate force reconstruction calibration in visuotactile sensors.
Abstract
The article introduces EasyCalib, a low-cost in-situ calibration device for visuotactile sensors. It focuses on the importance of obtaining reliable mechanical parameters like Young’s modulus and Poisson’s ratio for accurate force distribution measurements. The proposed method relies on comparing contact deformation to calibrate the sensors effectively. By utilizing detailed derivations of normal and torsional contact theories, a simple and cost-effective calibration device, EasyCalib, was designed and validated through finite element analysis. The article emphasizes the need for accurate force reconstruction in various robotic applications and highlights the limitations of existing calibration methods based on expensive force sensors. EasyCalib aims to provide an affordable solution that balances hardware cost, ease of operation, and accuracy in force reconstruction.
Stats
The Young’s modulus of the Tac3D product is about 0.22~0.38 MPa.
The Poisson’s ratio of the Tac3D product is about 0.38~0.42.
The part cost of EasyCalib is only $110.
Quotes
"We propose a new contact model for in-situ mechanical calibration."
"Experiments showed that EasyCalib could effectively measure the mechanical parameters."
"The cost of in-situ calibration devices is reduced compared to commercial sensors."