This library implements an algorithm for simulating the response of an array-type tactile force sensor when pressed against rigid objects represented by 3D models, as described in the paper
If you use this library in your work, please cite the paper above. We would also like you to let us know that you're using it.
Sensing Model Diagram
Screenshot from Sample Application
Above is a screenshot from one of the Example Programs, showing the simulator in action. A (red) 3D model of an H-shaped object is being pressed against two simulated sensors, shown in blue on the right with a translucent yellow covering. The response of the two 4x6 sensors is shown in the window on the left.
MAPS-TFSS is licensed for open-source use under GPL-v3.
The build configuration files are for CMake, which allows cross-platform support. We have successfully built the code on the following OSs, either using GCC (4.2.1+) or the indicated compiler, though it may work on other systems as well (or earlier compiler versions), provided all other dependencies (below) are met:
MAPS-TFSS has also been built and run on Mac OSX (10.5+) using MacPorts, but shader output seems not to be consistent with other platforms'.
The sensor simulation also depends on some external libraries:
GLEW, the OpenGL Extension Wrangler
Detailed instructions for getting these libraries and setting everything up in Windows or Linux are available in the Installation Instructions section.
This project generates three libraries
UtilsReusable utility code (graphics setup, 3D math, and 3D model handling)
SimTactileSensorGeneric simulated tactile sensor code
SimPPSSample code for simulating a specific sensor system
and two example programs, which are further described in Examples: