Temperature prediction with humanoid finger sensor based on Fourier's law

摘要

BioTac is a humanoid finger sensor that can perceive multiple physical properties such as temperature, contact force, surface features, micro-vibration, etc. However measuring temperature with BioTac has a large delay due to its conducting medium, which is unfavorable for intelligent perception. So a method of temperature prediction based on Fourier's Law is proposed. Firstly, a multi-functional calibration device for BioTac is built. Secondly, the pressure signal of BioTac is calibrated for the next temperature calibration. Thirdly, the relational expression between the temperature signal from BioTac and the actual temperature is given using the Least Square method. Then the calculated temperature according to the relational expression is compensated by thermal flux, which is the predicted temperature. Finally, the proposed method is verified using the calibration device. The results show that the proposed method can greatly reduce the time of measuring temperature, and the prediction accuracy meets the demand of application.