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Contact positions estimation of sensing structure using adaptive neuro-fuzzy inference system

Dalibor Petkovic (Department for Mechatronics, Faculty of Mechanical Engineering, University of Nisˇ, Nisˇ, Serbia)
Mirna Issa (Department of Mechanism Technology, Faculty of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany)
Nenad D. Pavlovic (Department for Mechatronics, Faculty of Mechanical Engineering, University of Nisˇ, Nisˇ, Serbia)
Lena Zentner (Department of Mechanism Technology, Faculty of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany)
Md Nor Ridzuan Daud (Department of Artificial Intelligence, Faculty of Computer Science and Information Technology, University of Malaya, Kuala Lumpur, Malaysia)
Shahaboddin Shamshirband (Department of Computer System and Technology, Faculty of Computer Science and Information Technology, University of Malaya, Kuala Lumpur, Malaysia)

Kybernetes

ISSN: 0368-492X

Article publication date: 29 April 2014

184

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.

Keywords

Acknowledgements

This work was supported by the DAAD-sponsored projects and TU Ilmenau, Germany. This research was also conducted with the support of a UMRG grant (RP006B-13ICT) from the University of Malaya (UM).

Citation

Petkovic, D., Issa, M., D. Pavlovic, N., Zentner, L., Nor Ridzuan Daud, M. and Shamshirband, S. (2014), "Contact positions estimation of sensing structure using adaptive neuro-fuzzy inference system", Kybernetes, Vol. 43 No. 5, pp. 783-796. https://doi.org/10.1108/K-03-2013-0041

Publisher

:

Emerald Group Publishing Limited

Copyright © 2014, Emerald Group Publishing Limited

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