Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications

Neuro-inspired electronic skin for robots

Touch is a complex sensing modality owing to large number of receptors (mechano, thermal, pain) nonuniformly embedded in the soft skin all over the body. These receptors can gather and encode the large tactile data, allowing us to feel and perceive the real world. This efficient somatosensation far outperforms the touch-sensing capability of most of the state-of-the-art robots today and suggests the need for neural-like hardware for electronic skin (e-skin). This could be attained through either innovative schemes for developing distributed electronics or repurposing the neuromorphic circuits developed for other sensory modalities such as vision and audio. This Review highlights the hardware implementations of various computational building blocks for e-skin and the ways they can be integrated to potentially realize human skin–like or peripheral nervous system–like functionalities. The neural-like sensing and data processing are discussed along with various algorithms and hardware architectures. The integration of ultrathin neuromorphic chips for local computation and the printed electronics on soft substrate used for the development of e-skin over large areas are expected to advance robotic interaction as well as open new avenues for research in medical instrumentation, wearables, electronics, and neuroprosthetics

Novel Bidirectional Body - Machine Interface to Control Upper Limb Prosthesis

Objective. The journey of a bionic prosthetic user is characterized by the opportunities and limitations involved in adopting a device (the prosthesis) that should enable activities of daily living (ADL). Within this context, experiencing a bionic hand as a functional (and, possibly, embodied) limb constitutes the premise for mitigating the risk of its abandonment through the continuous use of the device. To achieve such a result, different aspects must be considered for making the artificial limb an effective support for carrying out ADLs. Among them, intuitive and robust control is fundamental to improving amputees’ quality of life using upper limb prostheses. Still, as artificial proprioception is essential to perceive the prosthesis movement without constant visual attention, a good control framework may not be enough to restore practical functionality to the limb. To overcome this, bidirectional communication between the user and the prosthesis has been recently introduced and is a requirement of utmost importance in developing prosthetic hands. Indeed, closing the control loop between the user and a prosthesis by providing artificial sensory feedback is a fundamental step towards the complete restoration of the lost sensory-motor functions. Within my PhD work, I proposed the development of a more controllable and sensitive human-like hand prosthesis, i.e., the Hannes prosthetic hand, to improve its usability and effectiveness. Approach. To achieve the objectives of this thesis work, I developed a modular and scalable software and firmware architecture to control the Hannes prosthetic multi-Degree of Freedom (DoF) system and to fit all users’ needs (hand aperture, wrist rotation, and wrist flexion in different combinations). On top of this, I developed several Pattern Recognition (PR) algorithms to translate electromyographic (EMG) activity into complex movements. However, stability and repeatability were still unmet requirements in multi-DoF upper limb systems; hence, I started by investigating different strategies to produce a more robust control. To do this, EMG signals were collected from trans-radial amputees using an array of up to six sensors placed over the skin. Secondly, I developed a vibrotactile system to implement haptic feedback to restore proprioception and create a bidirectional connection between the user and the prosthesis. Similarly, I implemented an object stiffness detection to restore tactile sensation able to connect the user with the external word. This closed-loop control between EMG and vibration feedback is essential to implementing a Bidirectional Body - Machine Interface to impact amputees’ daily life strongly. For each of these three activities: (i) implementation of robust pattern recognition control algorithms, (ii) restoration of proprioception, and (iii) restoration of the feeling of the grasped object's stiffness, I performed a study where data from healthy subjects and amputees was collected, in order to demonstrate the efficacy and usability of my implementations. In each study, I evaluated both the algorithms and the subjects’ ability to use the prosthesis by means of the F1Score parameter (offline) and the Target Achievement Control test-TAC (online). With this test, I analyzed the error rate, path efficiency, and time efficiency in completing different tasks. Main results. Among the several tested methods for Pattern Recognition, the Non-Linear Logistic Regression (NLR) resulted to be the best algorithm in terms of F1Score (99%, robustness), whereas the minimum number of electrodes needed for its functioning was determined to be 4 in the conducted offline analyses. Further, I demonstrated that its low computational burden allowed its implementation and integration on a microcontroller running at a sampling frequency of 300Hz (efficiency). Finally, the online implementation allowed the subject to simultaneously control the Hannes prosthesis DoFs, in a bioinspired and human-like way. In addition, I performed further tests with the same NLR-based control by endowing it with closed-loop proprioceptive feedback. In this scenario, the results achieved during the TAC test obtained an error rate of 15% and a path efficiency of 60% in experiments where no sources of information were available (no visual and no audio feedback). Such results demonstrated an improvement in the controllability of the system with an impact on user experience. Significance. The obtained results confirmed the hypothesis of improving robustness and efficiency of a prosthetic control thanks to of the implemented closed-loop approach. The bidirectional communication between the user and the prosthesis is capable to restore the loss of sensory functionality, with promising implications on direct translation in the clinical practice

Soft Biomimetic Finger with Tactile Sensing and Sensory Feedback Capabilities

The compliant nature of soft fingers allows for safe and dexterous manipulation of objects by humans in an unstructured environment. A soft prosthetic finger design with tactile sensing capabilities for texture discrimination and subsequent sensory stimulation has the potential to create a more natural experience for an amputee. In this work, a pneumatically actuated soft biomimetic finger is integrated with a textile neuromorphic tactile sensor array for a texture discrimination task. The tactile sensor outputs were converted into neuromorphic spike trains, which emulate the firing pattern of biological mechanoreceptors. Spike-based features from each taxel compressed the information and were then used as inputs for the support vector machine (SVM) classifier to differentiate the textures. Our soft biomimetic finger with neuromorphic encoding was able to achieve an average overall classification accuracy of 99.57% over sixteen independent parameters when tested on thirteen standardized textured surfaces. The sixteen parameters were the combination of four angles of flexion of the soft finger and four speeds of palpation. To aid in the perception of more natural objects and their manipulation, subjects were provided with transcutaneous electrical nerve stimulation (TENS) to convey a subset of four textures with varied textural information. Three able-bodied subjects successfully distinguished two or three textures with the applied stimuli. This work paves the way for a more human-like prosthesis through a soft biomimetic finger with texture discrimination capabilities using neuromorphic techniques that provides sensory feedback; furthermore, texture feedback has the potential to enhance the user experience when interacting with their surroundings. Additionally, this work showed that an inexpensive, soft biomimetic finger combined with a flexible tactile sensor array can potentially help users perceive their environment better

Object grasping and safe manipulation using friction-based sensing.

This project provides a solution for slippage prevention in industrial robotic grippers for the purpose of safe object manipulation. Slippage sensing is performed using novel friction-based sensors, with customisable slippage sensitivity and complemented by an effective slippage prediction strategy. The outcome is a reliable and affordable slippage prevention technology

Novel active sweat pores based liveness detection techniques for fingerprint biometrics

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Liveness detection in automatic fingerprint identification systems (AFIS) is an issue which still prevents its use in many unsupervised security applications. In the last decade, various hardware and software solutions for the detection of liveness from fingerprints have been proposed by academic research groups. However, the proposed methods have not yet been practically implemented with existing AFIS. A large amount of research is needed before commercial AFIS can be implemented. In this research, novel active pore based liveness detection methods were proposed for AFIS. These novel methods are based on the detection of active pores on fingertip ridges, and the measurement of ionic activity in the sweat fluid that appears at the openings of active pores. The literature is critically reviewed in terms of liveness detection issues. Existing fingerprint technology, and hardware and software solutions proposed for liveness detection are also examined. A comparative study has been completed on the commercially and specifically collected fingerprint databases, and it was concluded that images in these datasets do not contained any visible evidence of liveness. They were used to test various algorithms developed for liveness detection; however, to implement proper liveness detection in fingerprint systems a new database with fine details of fingertips is needed. Therefore a new high resolution Brunel Fingerprint Biometric Database (B-FBDB) was captured and collected for this novel liveness detection research. The first proposed novel liveness detection method is a High Pass Correlation Filtering Algorithm (HCFA). This image processing algorithm has been developed in Matlab and tested on B-FBDB dataset images. The results of the HCFA algorithm have proved the idea behind the research, as they successfully demonstrated the clear possibility of liveness detection by active pore detection from high resolution images. The second novel liveness detection method is based on the experimental evidence. This method explains liveness detection by measuring the ionic activities above the sample of ionic sweat fluid. A Micro Needle Electrode (MNE) based setup was used in this experiment to measure the ionic activities. In results, 5.9 pC to 6.5 pC charges were detected with ten NME positions (50μm to 360 μm) above the surface of ionic sweat fluid. These measurements are also a proof of liveness from active fingertip pores, and this technique can be used in the future to implement liveness detection solutions. The interaction of NME and ionic fluid was modelled in COMSOL multiphysics, and the effect of electric field variations on NME was recorded at 5μm -360μm positions above the ionic fluid.This study is funded by the University of Sindh, Jamshoro, Pakistan and the Higher Education Commission of Pakistan

Biomechatronics: Harmonizing Mechatronic Systems with Human Beings

This eBook provides a comprehensive treatise on modern biomechatronic systems centred around human applications. A particular emphasis is given to exoskeleton designs for assistance and training with advanced interfaces in human-machine interaction. Some of these designs are validated with experimental results which the reader will find very informative as building-blocks for designing such systems. This eBook will be ideally suited to those researching in biomechatronic area with bio-feedback applications or those who are involved in high-end research on manmachine interfaces. This may also serve as a textbook for biomechatronic design at post-graduate level

Postural balance and acceleration threshold detection for anterior horizontal translation in diabetic and non-diabetic elderly

Slips and falls, and even the fear of failing, can represent a major medical and functional deterrent to living independently, especially among the elderly population. Various groups of elders are at known risk for falling including, but not limited to, those with vestibular dysfunction, those with low visual acuity including visual neuropathies, and those with peripheral neuropathies. The first two groups are fairly well studied, but the relationship between the level of peripheral neuropathy and extent of falling has received relatively less attention. In this study, using sliding linear investigative platform for analyzing lower limb stability (SLIP-FALLS), the psychophysical thresholds and strategies used for, detecting uItra-low-vibration horizontal translations in the elderly population (age range of 50 and 75 years) with adult-onset diabetes or peripheral neuropathy were determined. Acceleration thresholds for anterior horizontal movements of 1, 4, and 16 mm were determined. These detection thresholds were compared with healthy young adults (age \u3c 35 years) and age-matched elders without neuropathy. The extent of peripheral neuropathy was quantified by standard clinical nerve conduction tests of the sensory and motor nerves of the lower extremity by the Neurological Service of the Overton Brooks VAMC. Psychophysically, the acceleration thresholds have a negative power law relationship with the perturbation distance and are significantly higher for the elderly population when compared to young adults. A predictive Balasubramanian-Robinson model for determining acceleration thresholds for perturbation has been presented. Among the elderly, neurologically intact individuals were found to have a lower threshold for detection than those with neurological impairments. Conversely, the conduction velocities of the sensory and motor nerves were lower in case of the elderly with adult-onset diabetes or peripheral neuropathy. It was also found that cognitive and tactile sensory responses alone cannot be used to differentiate between the two groups of elderly. The diabetic elderly had a significantly higher lateral sway and increased reaction time for foot touch, platform perturbation, and auditory stimuli. These factors probably contribute to the increased risk of failing in the diabetic elderly