544 research outputs found
The role of fingerprints in the coding of tactile information probed with a biomimetic sensor
In humans, the tactile perception of fine textures (spatial scale <200
micrometers) is mediated by skin vibrations generated as the finger scans the
surface. To establish the relationship between texture characteristics and
subcutaneous vibrations, a biomimetic tactile sensor has been designed whose
dimensions match those of the fingertip. When the sensor surface is patterned
with parallel ridges mimicking the fingerprints, the spectrum of vibrations
elicited by randomly textured substrates is dominated by one frequency set by
the ratio of the scanning speed to the interridge distance. For human touch,
this frequency falls within the optimal range of sensitivity of Pacinian
afferents, which mediate the coding of fine textures. Thus, fingerprints may
perform spectral selection and amplification of tactile information that
facilitate its processing by specific mechanoreceptors.Comment: 25 pages, 11 figures, article + supporting materia
The implications of embodiment for behavior and cognition: animal and robotic case studies
In this paper, we will argue that if we want to understand the function of
the brain (or the control in the case of robots), we must understand how the
brain is embedded into the physical system, and how the organism interacts with
the real world. While embodiment has often been used in its trivial meaning,
i.e. 'intelligence requires a body', the concept has deeper and more important
implications, concerned with the relation between physical and information
(neural, control) processes. A number of case studies are presented to
illustrate the concept. These involve animals and robots and are concentrated
around locomotion, grasping, and visual perception. A theoretical scheme that
can be used to embed the diverse case studies will be presented. Finally, we
will establish a link between the low-level sensory-motor processes and
cognition. We will present an embodied view on categorization, and propose the
concepts of 'body schema' and 'forward models' as a natural extension of the
embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of
Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5
Roughness Encoding in Human and Biomimetic Artificial Touch: Spatiotemporal Frequency Modulation and Structural Anisotropy of Fingerprints
The influence of fingerprints and their curvature in tactile sensing performance is investigated by comparative analysis of different design parameters in a biomimetic artificial fingertip, having straight or curved fingerprints. The strength in the encoding of the principal spatial period of ridged tactile stimuli (gratings) is evaluated by indenting and sliding the surfaces at controlled normal contact force and tangential sliding velocity, as a function of fingertip rotation along the indentation axis. Curved fingerprints guaranteed higher directional isotropy than straight fingerprints in the encoding of the principal frequency resulting from the ratio between the sliding velocity and the spatial periodicity of the grating. In parallel, human microneurography experiments were performed and a selection of results is included in this work in order to support the significance of the biorobotic study with the artificial tactile system
A Biomimetic Fingerprint for Robotic Tactile Sensing
Tactile sensors have been developed since the early '70s and have greatly
improved, but there are still no widely adopted solutions. Various
technologies, such as capacitive, piezoelectric, piezoresistive, optical, and
magnetic, are used in haptic sensing. However, most sensors are not
mechanically robust for many applications and cannot cope well with curved or
sizeable surfaces. Aiming to address this problem, we present a 3D-printed
fingerprint pattern to enhance the body-borne vibration signal for dynamic
tactile feedback. The 3D-printed fingerprint patterns were designed and tested
for an RH8D Adult size Robot Hand. The patterns significantly increased the
signal's power to over 11 times the baseline. A public haptic dataset including
52 objects of several materials was created using the best fingerprint pattern
and material.Comment: 56th International Symposium on Robotics (ISR Europe) | September
26-27, 2023, Stuttgart, German
Design of a Low-cost Tactile Robotic Sleeve for Autonomous Endoscopes and Catheters
Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback from a catheter or endoscopic type robotic device has been restricted mostly on the tip of the device and was not aimed to support the autonomous movement of the medical device during operation. In this work, we design a robotic sheath/sleeve with a novel and more comprehensive approach, which can function for whole-body or segment-based feedback control as well as diagnostic purposes. The robotic sleeve has several types of piezo-resistive pressure and extension sensors, which are embedded at several latitudes and depths of the silicone substrate. The sleeve takes the human skin as a biological model for its structure. It has a better tactile sensation of the inner tissues in the torturous narrow channels such as cardiovascular or endo-luminal tracts in human body thus can be used to diagnose abnormalities. In addition to this capability, using the stretch sensors distributed alongside its body, the robotic sheath/sleeve can perceive the ego-motion of the robotic backbone of the catheter and can act as a position feedback device. Because of the silicone substrate, the sleeve contributes toward safety of the medical device passively by providing a compliant interface. As an active safety measure, the robotic sheath can sense blood-clots or sudden turns inside a channel and by modifying the local trajectory, and can prevent embolisms or tissue rupture. In the future, advanced manufacturing techniques will increase the capabilities of the tactile robotic sleeve
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