27,866 research outputs found

    GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

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    This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, the depth of field of the camera, and the size of the tactile sensing area. The sensor sustains the wear from continuous use -- and abuse -- in grasping tasks by combining tougher materials for the compliant soft gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments.Comment: RA-L Pre-print. 8 page

    The TIDE project OSCAR

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    Do synaesthesia and mental imagery tap into similar cross-modal processes?

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    Synaesthesia has previously been linked with imagery abilities, although an understanding of a causal role for mental imagery in broader synaesthetic experiences remains elusive. This can be partly attributed to our relatively poor understanding of imagery in sensory domains beyond vision. Investigations into the neural and behavioural underpinnings of mental imagery have nevertheless identified an important role for imagery in perception, particularly in mediating cross-modal interactions. However, the phenomenology of synaesthesia gives rise to the assumption that associated cross-modal interactions may be encapsulated and specific to synaesthesia. As such, evidence for a link between imagery and perception may not generalize to synaesthesia. Here, we present results that challenge this idea: first, we found enhanced somatosensory imagery evoked by visual stimuli of body parts in mirror-touch synaesthetes, relative to other synaesthetes or controls. Moreover, this enhanced imagery generalized to tactile object properties not directly linked to their synaesthetic associations. Second, we report evidence that concurrent experience evoked in grapheme-colour synaesthesia was sufficient to trigger visual-to-tactile correspondences that are common to all. Together, these findings show that enhanced mental imagery is a consistent hallmark of synaesthesia, and suggest the intriguing possibility that imagery may facilitate the cross-modal interactions that underpin synaesthesic experiences. This article is part of a discussion meeting issue 'Bridging senses: novel insights from synaesthesia'

    Development and initial validation of a sensory threshold examination protocol (STEP) for phenotyping canine pain syndromes

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    Objective To study feasibility and test-retest repeatability of a sensory threshold examination protocol (STEP) and report quantitative sensory threshold distributions in healthy dogs. Study design Prospective, observational, cohort study. Animals Twenty-five healthy client-owned dogs. Methods Tactile sensitivity (TST) (von Frey filaments), mechanical thresholds (MT with 2, 4 and 8 mm probes), heat thresholds (HT) and responsiveness to cold stimulus (CT at 0 °C) were quantitatively assessed for five body areas (BA: tibias, humeri, neck, thoracolumbar region and abdomen) in a randomized order on three different occasions. Linear Mixed Model and Generalised Linear Mixed models were used to evaluate the effects of body weight category, age, sex, BA, occasion, feasibility score and investigator experience. Test-retest repeatability was evaluated with the Intra-class Correlation Coefficient (ICC). Results The STEP lasted 90 minutes without side effects. The BA affected most tests (p = 0.001). Higher thresholds and longer cold latencies were scored in the neck (p = 0.024) compared to other BAs. Weight category affected all thresholds (p = 0.037). Small dogs had lower MT (~1.4 N mean difference) and HT (1.1 0C mean difference) than other dogs (p = 0.029). Young dogs had higher HT than adults (2.2 0C mean difference) (p = 0.035). Gender also affected TST, MT and HT (p < 0.05) (females versus males: TST OR= 0.5, MT= 1.3 N mean difference, HT= 2.2 0C mean difference). Repeatability was substantial to moderate for all tests, but poor for TST. There was no difference in thresholds between occasions, except for CT. Test-retest repeatability was slightly better with the 2 mm MT probe compared to other diameters and improved with operator experience. Conclusions and clinical relevance The STEP was feasible, well tolerated and showed substantial test-retest repeatability in healthy dogs. Further validation is needed in dogs suffering pain

    Tactile spatial attention enhances gamma-band activity in somatosensory cortex and reduces low-frequency activity in parieto-occipital areas.

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    We investigated the effects of spatial-selective attention on oscillatory neuronal dynamics in a tactile delayed-match-to-sample task. Whole-head magnetoencephalography was recorded in healthy subjects while dot patterns were presented to their index fingers using Braille stimulators. The subjects’ task was to report the reoccurrence of an initially presented sample pattern in a series of up to eight test stimuli that were presented unpredictably to their right or left index finger. Attention was cued to one side (finger) at the beginning of each trial, and subjects performed the task at the attended side, ignoring the unattended side. After stimulation, high-frequency gamma-band activity (60 –95 Hz) in presumed primary somatosensory cortex (S1) was enhanced, whereas alpha- and beta-band activity were suppressed in somatosensory and occipital areas and then rebounded. Interestingly, despite the absence of any visual stimulation, we also found time-locked activation of medial occipital, presumably visual, cortex. Most relevant, spatial tactile attention enhanced stimulus-induced gamma-band activity in brain regions consistent with contralateral S1 and deepened and prolonged the stimulus induced suppression of beta- and alpha-band activity, maximal in parieto-occipital cortex. Additionally, the beta rebound over contralateral sensorimotor areas was suppressed. Wehypothesize that spatial-selective attention enhances the saliency of sensory representations by synchronizing neuronal responses in early somatosensory cortex and thereby enhancing their impact on downstream areas and facilitating interareal processing. Furthermore, processing of tactile patterns also seems to recruit visual cortex and this even more so for attended compared with unattended stimuli

    Mid-air haptic rendering of 2D geometric shapes with a dynamic tactile pointer

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    An important challenge that affects ultrasonic midair haptics, in contrast to physical touch, is that we lose certain exploratory procedures such as contour following. This makes the task of perceiving geometric properties and shape identification more difficult. Meanwhile, the growing interest in mid-air haptics and their application to various new areas requires an improved understanding of how we perceive specific haptic stimuli, such as icons and control dials in mid-air. We address this challenge by investigating static and dynamic methods of displaying 2D geometric shapes in mid-air. We display a circle, a square, and a triangle, in either a static or dynamic condition, using ultrasonic mid-air haptics. In the static condition, the shapes are presented as a full outline in mid-air, while in the dynamic condition, a tactile pointer is moved around the perimeter of the shapes. We measure participants’ accuracy and confidence of identifying shapes in two controlled experiments (n1 = 34, n2 = 25). Results reveal that in the dynamic condition people recognise shapes significantly more accurately, and with higher confidence. We also find that representing polygons as a set of individually drawn haptic strokes, with a short pause at the corners, drastically enhances shape recognition accuracy. Our research supports the design of mid-air haptic user interfaces in application scenarios such as in-car interactions or assistive technology in education

    A supramodal representation of the body surface

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    The ability to accurately localize both tactile and painful sensations on the body is one of the most important functions of the somatosensory system. Most accounts of localization refer to the systematic spatial relation between skin receptors and cortical neurons. The topographic organization of somatosensory neurons in the brain provides a map of the sensory surface. However, systematic distortions in perceptual localization tasks suggest that localizing a somatosensory stimulus involves more than simply identifying specific active neural populations within a somatotopic map. Thus, perceptual localization may depend on both afferent inputs and other unknown factors. In four experiments, we investigated whether localization biases vary according to the specific skin regions and subset of afferent fibers stimulated. We represented localization errors as a ‘perceptual map’ of skin locations. We compared the perceptual maps of stimuli that activate Aβ (innocuous touch), Aδ (pinprick pain), and C fibers (non-painful heat) on both the hairy and glabrous skin of the left hand. Perceptual maps exhibited systematic distortions that strongly depended on the skin region stimulated. We found systematic distal and radial (i.e., towards the thumb) biases in localization of touch, pain, and heat on the hand dorsum. A less consistent proximal bias was found on the palm. These distortions were independent of the population of afferent fibers stimulated, and also independent of the response modality used to report localization. We argue that these biases are likely to have a central origin, and result from a supramodal representation of the body surface
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