A Tactile Sensor Decoupling Process

• Main Authors: Yuyun Xu, Xuekun Zhuang, Guangyu Hu, Hongqing Pan, Feng Shuang
• Format: Article
• Language: English
• Published: MDPI AG 2018-10-01
• Series: Sensors
• Subjects: homotopy; tactile sensors; trust-region dogleg; decoupling process
• Online Access: http://www.mdpi.com/1424-8220/18/10/3515

An improved hybrid homotopy method is proposed to decouple the multi-input model of tactile sensors. The time-embedded homotopy algorithm is proved to be very suitable for solving the problem. Three tracking factors that control the efficiency of the algorithm are studied: tracking operator, stepsize, and accuracy. Trust region methods are applied to track the zero paths instead of the traditional differential algorithm, and a periodic sampling method is proposed to improve the efficiency of the algorithm. Numerical experiments show that both the robustness and accuracy have received a huge boost after the hybrid algorithm is applied.