TY - GEN
T1 - Capacitance ratio estimation on a novel MEMS tactile sensor for elasticity measurement
AU - Peng, Peng
AU - Rajamani, Rajesh
PY - 2011/9/29
Y1 - 2011/9/29
N2 - This paper develops a real-time capacitance ratio estimation system for a novel MEMS tactile sensor that can provide elasticity measurement of a variety of target objects. The tactile sensor is developed by this team for in-vivo tissue elasticity measurements and can be installed on a hand-held probe or on minimally invasive surgical instruments. The sensor readout consists of two channels of capacitance values and the ratio of these capacitance values needs to be reliably estimated in real-time. The proposed estimation algorithm utilizes a recursive least squares method with adaptive forgetting factors, which provides reliable elasticity measurement of polymer specimens and quickly detects changes in elasticity. Extensive experimental results are presented.
AB - This paper develops a real-time capacitance ratio estimation system for a novel MEMS tactile sensor that can provide elasticity measurement of a variety of target objects. The tactile sensor is developed by this team for in-vivo tissue elasticity measurements and can be installed on a hand-held probe or on minimally invasive surgical instruments. The sensor readout consists of two channels of capacitance values and the ratio of these capacitance values needs to be reliably estimated in real-time. The proposed estimation algorithm utilizes a recursive least squares method with adaptive forgetting factors, which provides reliable elasticity measurement of polymer specimens and quickly detects changes in elasticity. Extensive experimental results are presented.
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M3 - Conference contribution
AN - SCOPUS:80053136845
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 3459
EP - 3464
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -