A six-microphone array on a robot arm, combined with a learned audio and motion model, localizes contact points on the arm to within 0.4 to 2.2 cm, including on novel objects and human strikes.
Tactile-sensing technologies: Trends, challenges and outlook in agri- food manipulation,
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SonicBoom: Contact Localization Using Array of Microphones
A six-microphone array on a robot arm, combined with a learned audio and motion model, localizes contact points on the arm to within 0.4 to 2.2 cm, including on novel objects and human strikes.