Tactile Resolution and Grasp Stability Prediction
Qian Wan and Robert Howe
Understanding the relationship between tactile sensor quality and functional performance is key to a rigorous design process for tactile sensors. We quantitatively analyzed the effect of sensor resolution on stability prediction. Resolution limits of contact sensors cause ambiguity in contact location and surface normals, which leads to ambiguous predictions of grasp outcomes in some instances. Our analysis enables calculation of the specific contact locations on an object where the tactile sensors are trustworthy, as well as calculations of the success prediction ceiling for data-driven methods.