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...the conditional distribution p(t∗|t, x∗,x) as mean (t∗) = kTC−1t (2.8) var (t∗) = c − kTC−1k (2.9) these values are the ones we aimed for and we now have calculated a prediction of the target value t∗=-=[16]-=-. Figure 2.1 shows a plot of the mean (red) and the standard deviation (gray area) of a GP, with a Gaussian Kernel applied, based on three input points (blue). The plot illustrates that the standard d...

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...n are made for interacting with hands. Thus robots will have to have hands human inspired hands to be able to use our tools. Several human inspired robotic hands have already been developed [2], [3], =-=[4]-=-, [5], but there is more needed than just a hand with fingers to perform dexterous manipulation tasks. Knowledge about the manipulation process is needed to control the required movements. In manipula...

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... made for interacting with hands. Thus robots will have to have hands human inspired hands to be able to use our tools. Several human inspired robotic hands have already been developed [2], [3], [4], =-=[5]-=-, but there is more needed than just a hand with fingers to perform dexterous manipulation tasks. Knowledge about the manipulation process is needed to control the required movements. In manipulation ...

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...rces from a tactile sensor exclusively has not been the subject of research/publications very often but it occurs in the majority of publications related to tactile based grasping [7], slip detection =-=[8]-=-, compliance detection [9] or haptic adjectives determination [10]. For all these applications precise force determination is essential. Even in human diagnostics like tumor detection contact force de...

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...eneral extracting forces from a tactile sensor exclusively has not been the subject of research/publications very often but it occurs in the majority of publications related to tactile based grasping =-=[7]-=-, slip detection [8], compliance detection [9] or haptic adjectives determination [10]. For all these applications precise force determination is essential. Even in human diagnostics like tumor detect...

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...f research/publications very often but it occurs in the majority of publications related to tactile based grasping [7], slip detection [8], compliance detection [9] or haptic adjectives determination =-=[10]-=-. For all these applications precise force determination is essential. Even in human diagnostics like tumor detection contact force determination from a tactile sensor can be applied and be of great b...

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...prosthetic finger, hand or arm. Since the time humans started to conquer earth one of the major abilities that differentiates us from most of the other creatures is the ability to build and use tools =-=[1]-=-. A vast amount of tools have been developed for all kind of tasks and hence nowadays we are surrounded by these tools. These tools make our life easier and if robots should act in our world and perfo...

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...all of then are made for interacting with hands. Thus robots will have to have hands human inspired hands to be able to use our tools. Several human inspired robotic hands have already been developed =-=[2]-=-, [3], [4], [5], but there is more needed than just a hand with fingers to perform dexterous manipulation tasks. Knowledge about the manipulation process is needed to control the required movements. I...

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...ll these applications precise force determination is essential. Even in human diagnostics like tumor detection contact force determination from a tactile sensor can be applied and be of great benefit =-=[11]-=-. In consideration of the BioTacs very unique design, as described in section 3.1, it is hard to compare our work to work where flat arrayed sensors were used like in [8], where the authors additional...

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... but do not go into more detail about the implementation or results. In a publication from 2011 Wettels and Leob state, that Neural Networks (NNs) were best suited to extract features from the BioTac =-=[14]-=-. They focus on three features: tri-axial forces, point of application of force and radius of curvature. Highly correlated to the topic of this thesis is the force vector extraction they describe and ...

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... exclusively has not been the subject of research/publications very often but it occurs in the majority of publications related to tactile based grasping [7], slip detection [8], compliance detection =-=[9]-=- or haptic adjectives determination [10]. For all these applications precise force determination is essential. Even in human diagnostics like tumor detection contact force determination from a tactile...

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...f then are made for interacting with hands. Thus robots will have to have hands human inspired hands to be able to use our tools. Several human inspired robotic hands have already been developed [2], =-=[3]-=-, [4], [5], but there is more needed than just a hand with fingers to perform dexterous manipulation tasks. Knowledge about the manipulation process is needed to control the required movements. In man...

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...has been done by Su et al. [9] who use a transformation matrix and map the impedances measured by each electrode to a global frame by making use of the explicit location of each of the electrodes. In =-=[13]-=- Wettels et al. indicate, that a Gaussian mixture model is most effective at interpreting data from the BioTac but do not go into more detail about the implementation or results. In a publication from...

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... improve pick and place tasks. In [7] Chitta et al. use the grasping force and the arising deformations to train a classifier which decides whether a container is filled or not. Ho et al interpret in =-=[12]-=- feedback of an flat pressure sensor as gray scale image and extract beside force, location and orientation also arising micro slips. Thus we focus at publications involving the BioTac sensor. For exa...