Potential of adaptive neuro-fuzzy inference system for contact positions detection of sensing structure

• Adaptive neuro fuzzy inference strategy for estimation of contact locations.
• A new tactile sensing structure.
• Implementations of carbon-black filled silicone rubber for tactile sensation.
• Estimation of contact locations according to the tactile sensors electrical changing.
• System indicates state of contact locations.

Tactile sensing is the process of determining physical properties by contact with objects. Here, a novel methodology of an adaptive neuro fuzzy inference strategy (ANFIS) for detection of contact position of a new tactile sensing structure was proposes. 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 external deformations. The sensor-elements for the tactile sensing structure were made by press-curing from carbon-black filled silicone rubber. The experimental results were used as training and testing data for the ANFIS network. The ANFIS network is used to approximate correlations between contact point locations of the sensing structure. The simulation results presented in this paper show the effectiveness of the developed method. 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.