Dynamic Tactile Restoration by Time Domain Nonlinear Filtering without Forward Modeling

Abstrac-When we we B tactile sensor, sensing mechanism and restoration of textore from electric sensing signals are important issues. The objectives of this research are to design a new texture sensing system and to develop a new signal processing algorithm which e m restore various texture. The new texture sensing system is designed to get texture with high resolution and wide velocity range, which uses a PVDF sensor and has hring components for several @pes of objects in precise condition. Next a new signal processing algorithm is developed to restore texture. In the previous researches, forward model is needed and then it is inverted by using some regularized inversion formula in frequency domain, where there edst problems such as amplification of noise due to .ill-posedness, modeling uncertainty due to orientation and position of P M F f h s sad silicon rubber, and difficulty to add nonlinear terms into model in frequency domain. While, in Ibis paper, we model directly the relation containing transient-state from measured signals to texture by using model structure of multi-input multi-autput naolinear autoregressive moving average and B time domain least squares estimatioa The direct modeling can be done by the use of F f l sensor which is not used in the previous researches. Finally the several texture is emperimentslly recaostructed from sensing signals using the developed signal processing algorithm