Enhancing Tactile Sensing in Robotics: Dual-Modal Force and Shape Perception with EIT-based Sensors and MM-CNN
Haofeng Chen,Xuanxuan Yang,Gang Ma,Yucheng Wang,Xiaojie Wang,Haofeng Chen,Xuanxuan Yang,Gang Ma,Yucheng Wang,Xiaojie Wang
Electrical Impedance Tomography (EIT)-based tactile sensors offer durability, scalability, and cost-effective manufacturing. However, simultaneously reconstructing force and shape from boundary measurements remains challenging due to EIT’s inherent location dependencies and image artifacts. This study presents a model-driven multimodal convolutional neural network (MM-CNN) for joint EIT-based forc...
