Abstract
It is important to develop sensing technology for the use with industrial robot hands or fingers. However, the existing technology is unable to sense inside of an object. In this paper, the possibility of using electrical capacitance tomography (ECT) for this purpose is discussed. With rotation of a three-finger robot hand, it is possible to obtain sufficient information to reconstruct internal structure or material distribution. Different arrangements of three electrodes with rotation as an ECT sensor are studied by software simulation. The effects of different number of rotation times on image reconstruction is compared. Image reconstruction is performed by linear back projection (LBP) and Landweber iteration algorithms. The relative error and correlation coefficient are calculated to evaluate results, showing that it is possible to realize image reconstruction by using a 3-electrode ECT sensor with rotation, and increasing the number of rotation times may not improve the quality of reconstructed images.
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