Contact positions estimation of sensing structure using adaptive neuro-fuzzy inference system. Issue 5 (29th April 2014)

• Record Type: Journal Article
• Authors: Petkovic, Dalibor; Issa, Mirna; D. Pavlovic, Nenad; Zentner, Lena; Nor Ridzuan Daud, Md; Shamshirband, Shahaboddin
• Is Part Of: Kybernetes. Volume 43:Issue 5(2014)
• Page Start: 783
• Page End: 796
• Publication Date: 2014-04-29
• Subjects: Fuzzy logic -- Adaptation -- Sensors -- Robotics -- Artificial intelligence -- Sensing structure -- Conductive silicone rubber -- Contact detection -- Adaptive neuro fuzzy system; Cybernetics -- Periodicals; Systems engineering -- Periodicals; 003.505
• DOI: 10.1108/K-03-2013-0041
• Languages: English
• ISSNs: 0368-492X

Abstract

Abstract : Purpose: – Tactile sensing is the process of determining physical properties and events through contact with objects in the world. The purpose of this paper is to establish a novel design of an adaptive neuro-fuzzy inference system (ANFIS) for estimation of contact position of a new tactile sensing structure. Design/methodology/approach: – The major task is to investigate implementations of carbon-black-filled silicone rubber for tactile sensation; the silicone rubber is electrically conductive and its resistance changes by loading or unloading strains. Findings: – The sensor-elements for the tactile sensing structure were made by press-curing from carbon-black-filled silicone rubber. The experimental results can be used as training and checking data for the ANFIS network. Originality/value: – This system is capable to find any change of contact positions and thus indicates state of the current contact location of the tactile sensing structure. The behavior of the use silicone rubber shows strong non-linearity, therefore, the sensor cannot be used for high accurate measurements. The greatest advantage of this sensing material lies in its high elasticity.