A Decoupling Algorithm Based on Homotopy Theory for 3-D Tactile Sensor Arrays

Abstract

A decoupling algorithm for 3-D tactile sensor arrays based on homotopy theory is described in this paper. The algorithm changes traditional static sensor decoupling into dynamic sensor decoupling by introducing the time parameter into the decoupling process. Simulation results show that the increase of the sensor size will not make the exponential growth of computational complexity, and the algorithm can be used to measure force information of high-dimensional, multi-parameter tactile sensor arrays in real time.

Keywords

• Flexible tactile sensor
• Homotopy theory
• Decoupling algorithms