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In this paper, we present algorithms to estimate external contact forces andjoint torques using only skin, i.e. distributed tactile sensors. To deal withgaps between the tactile sensors (taxels), we use interpolation techniques. Theapplication of these interpolation techniques allows us to estimate contactforces and joint torques without the need for expensive force-torque sensors.Validation was performed using the iCub humanoid robot.

Contact Force and Joint Torque Estimation Using Skin