Hardware Implementation for Triaxial Contact-Force Estimation from Stress Tactile Sensor Arrays: An Efficient Design Approach DOI Creative Commons
María Luisa Pinto Salamanca, Wilson Javier Peréz-Holguín, José A. Hidalgo-López

et al.

Sensors, Journal Year: 2024, Volume and Issue: 24(23), P. 7829 - 7829

Published: Dec. 7, 2024

This paper presents a contribution to the state of art in design tactile sensing algorithms that take advantage characteristics generalized sparse matrix-vector multiplication reduce area, power consumption, and data storage required for real-time hardware implementation. work also addresses challenge implementing execute multiaxial contact-force estimation from normal stress sensor array on field-programmable gate-array development platform, employing high-level description approach. describes implementation proposed algorithm an previously reported literature, comparing results both implementations with software already validated. The calculation force vectors average time 58.68 ms, error 12.6% forces 7.7% tangential 10 × taxel array. Some advantages developed are it does not require additional memory elements, achieves 4× reduction processing elements compared non-sparse implementation, meets requirements being generalizable, scalable, efficient, allowing expansion applications sensors low-power systems.

Language: Английский

Hardware Implementation for Triaxial Contact-Force Estimation from Stress Tactile Sensor Arrays: An Efficient Design Approach DOI Creative Commons
María Luisa Pinto Salamanca, Wilson Javier Peréz-Holguín, José A. Hidalgo-López

et al.

Sensors, Journal Year: 2024, Volume and Issue: 24(23), P. 7829 - 7829

Published: Dec. 7, 2024

This paper presents a contribution to the state of art in design tactile sensing algorithms that take advantage characteristics generalized sparse matrix-vector multiplication reduce area, power consumption, and data storage required for real-time hardware implementation. work also addresses challenge implementing execute multiaxial contact-force estimation from normal stress sensor array on field-programmable gate-array development platform, employing high-level description approach. describes implementation proposed algorithm an previously reported literature, comparing results both implementations with software already validated. The calculation force vectors average time 58.68 ms, error 12.6% forces 7.7% tangential 10 × taxel array. Some advantages developed are it does not require additional memory elements, achieves 4× reduction processing elements compared non-sparse implementation, meets requirements being generalizable, scalable, efficient, allowing expansion applications sensors low-power systems.

Language: Английский

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