Abstract：As an alternative to the commonly used tactile based approach,we propose to use the measurement data supplied by a force/torque sensor mounted at the end of the fingertip to localize the contact.Considering the gravitational effects on the contacts,we first give a mathematical formulation of the localization of contact.Then we perform an error analysis and a uniqueness demonstration of the computed model.Finally,we give the experiment results obtained by using a Lord FT335x force/torque sensor for sensing contact positions.
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