{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-machine-learning-approach-to-contact","title":"A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin","arxiv_id":"2412.00689","date":"2024-12-01","proceeding":null,"authors":["Carson Kohlbrenner","Mitchell Murray","Yutong Zhang","Caleb Escobedo","Thomas Dunnington","Nolan Stevenson","Nikolaus Correll","Alessandro Roncone"],"abstract":"Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a simplifying assumption, limiting their ability to be used on 3D surfaces with variable density sensing arrays. This paper studies contact localization on an artificial skin embedded with mutual capacitance tactile sensors, arranged non-uniformly in an unknown distribution along a semi-conical 3D geometry. A fully connected neural network is trained to localize the touching points on the embedded tactile sensors. The studied online model achieves a localization error of $5.7 \\pm 3.0$ mm. 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