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HIRO-group/TactileContactLocalization
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To use and edit the app, make sure you have Matlab App Designer installed. After cloning the repository with "git clone https://github.com/HIRO-group/TactileContactLocalization.git", run the main app window named "ContactLocalizationApp.mlapp". The window will automatically search for a serial input connected to the host device streaming sensor values with a comma delimeter. This has only been tested with Arduino microcontrollers but should still work as long as the serial input is what it is expecting. ######## Arduino Connection ######### skinObj -> Serial connection to the arduino. Use this when calling readSkin ########## Touch Data ############### touchData -> Struct containing all data needed for ML training from a data collection cycle >> touchData.numTX -> Number of transmitter wires >> touchData.numRX -> Number of receiver wires >> touchData.numSensors -> Number of sensors >> touchData.numPL -> Number of point logs >> touchData.description -> Name of data set % Point Log Data: Sensor data from touching a location on the object >> touchData.PL -> [1xpl] vector of all Point Log data sets, pl = number of point logs >>>> touchData.PL.touchPos -> [x,y,z] location of touch >>>> touchData.PL.sensorStateRaw -> [nxm] vector of all sensor data where n = sample size of point log and m = number of sensors >>>> touchData.PL.sensorStateAvg -> [1xm] vector of the averages of sensor data by sample size where m = number of sensors % Calibration Point Log: Sensor data when no contact is made >> touchData.CPL -> Single Calibration Point Log data sets >>>> touchData.CPL.sensorStateRaw -> [nxm] vector of all sensor data where n = sample size of point log and m = number of sensors >>>> touchData.CPL.sensorStateAvg -> [1xm] vector of the averages of sensor data by sample size where m = number of sensors % Object model data for the object used in data collection >> touchData.obj -> Struct for object data >>>> touchData.obj.v -> [nx3] matrix of vertices that form each face verts >>>> touchData.obj.f -> [mx3] matrix of vertex locations in implied body frame >>>> touchData.obj.fileLoc -> string of object file location from main directory >>>> touchData.obj.Points -> [nx3] matrix of discrete points along the surface >> touchData.stl -> Struct for stl data >>>> touchData.stl.fe -> Struct containing all information of an fegeometry >>>> touchData.stl.fileLoc -> string of object file location from main directory % Sensor Locations >> touchData.sns -> [1xn] matrix of sensor structs >>>> touchData.sns.posPred -> [x,y,z] matrix of predicted sensor location >>>> touchData.sns.posReal -> [x,y,z] matrix of real sensor locations (if given)
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3D Contact localization for mutual capacitive tactile sensing arrays for robotics
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