Calibrating a Soft ERT-Based Tactile Sensor with a Multiphysics Model and Sim-to-real Transfer Learning
Hyosang Lee,Hyunkyu Park,Gokhan Serhat,Huanbo Sun,Katherine J. Kuchenbecker,Hyosang Lee,Hyunkyu Park,Gokhan Serhat,Huanbo Sun,Katherine J. Kuchenbecker
Tactile sensors based on electrical resistance tomography (ERT) have shown many advantages for implementing a soft and scalable whole-body robotic skin; however, calibration is challenging because pressure reconstruction is an ill-posed inverse problem. This paper introduces a method for calibrating soft ERT-based tactile sensors using sim-to-real transfer learning with a finite element multiphysi...
