| Title: | OS15-1 Surface Stiffness Estimation using Active Strobe Imager |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 433-439 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS15-1 |
| Author(s): | Taiki Yamaguchi, Kensuke Harada, Koji Mizoue, Makoto Kaneko |
| Publication Date: | February 13, 2025 |
| Keywords: | Spring-constant, Non-contact, Estimation |
| Abstract: | In this paper, we propose a method for estimating mechanical impedance of surface like skin using an Active Strobe Imager (ASI). ASI has the capability to non-contactly excite the target surface using an air jet flow, and to qualitatively observe traveling waves through strobe illumination. On the other hand, this paper shows that the surface impedance parameter can be estimated without contacting the target surface along with the visualization through ASI. We solve two problems: one is the inverse problem and the other is the forward problem. In the inverse problem, we estimate the spring constant of the target using information obtained from the measurement data. In the forward problem, we determine the surface displacement from the applied force, we compared the obtained displacement from the measurement data, demonstrating that the spring constants were correctly estimated. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS15/OS15-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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