Hertz-Inspired Cylinder–Plane Model for Force–Voltage Mapping in Tactile Sensing
Year: 2026
Type: conference-paper
Abstract: In this study, we propose a physics-regularized calibration method for estimating normal contact force from the mean output of an optoelectronic tactile array during cylindrical–flat contacts in parallel-jaw grasping. The method builds a structured tactile-to-force mapping using a Hertz cylinder–plane contact profile. Rather than identifying material constants, the model is used as a shape-constrained interpolator in the sensor domain: the tactile readout is a voltage-derived deformation proxy and the fitted parameters are therefore effective calibration coefficients that capture sensor scaling and lumped compliance effects. These parameters are identified via Bayesian Optimization from a single open–close acquisition, producing a compact monotonic mapping from tactile response to normal force and nominal contact pressure. The calibrated model enables real-time force/pressure-related estimation and tactile-indicator closed-loop regulation. Experiments validate the approach on deformable cables with known nominal radii, showing that tactile feedback maintains regulation performance despite local in-hand deformation.
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7204191252