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Seeing by touch: evaluation of a soft biologically-inspired artificial fingertip in real-time active touch.

Assaf T, Roke C, Rossiter J, Pipe T, Melhuish C - Sensors (Basel) (2014)

Bottom Line: The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared.By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance.The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

View Article: PubMed Central - PubMed

Affiliation: Bristol Robotics Lab, T Block, Frenchay Campus, Coldharbour Lane, Bristol, BS16 1QY, UK. tareq.assaf@brl.ac.uk.

ABSTRACT
Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of the optical sensor's contact surface also allows safer interactions with objects. High-level tactile features such as edges are extrapolated from the sensor's output and the information is used to generate a tactile image. The work presented in this paper aims to investigate and evaluate this artificial fingertip for 2D shape reconstruction. The sensor was mounted on a robot arm to allow autonomous exploration of different objects. The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared. By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance. The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

No MeSH data available.


Visual comparison of the artificial sensor path (a) in white, reconstructed shape in blue and the target shapes (b).
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f9-sensors-14-02561: Visual comparison of the artificial sensor path (a) in white, reconstructed shape in blue and the target shapes (b).

Mentions: As shown in Figure 7, the artificial fingertip and autonomous control system are able to successfully map the perimeter of the different objects by finding and then following their raised edges. A comparison between the real and estimated perimeters of the shapes by the sensor system can be seen in Figure 9. The trajectories are not always completely closed due to the stop condition, although this is not a problem for the evaluation due to the post process convex hull built around the trajectory (Figure 9a). The length of the hull sides was used to generate the reconstructed dimensions.


Seeing by touch: evaluation of a soft biologically-inspired artificial fingertip in real-time active touch.

Assaf T, Roke C, Rossiter J, Pipe T, Melhuish C - Sensors (Basel) (2014)

Visual comparison of the artificial sensor path (a) in white, reconstructed shape in blue and the target shapes (b).
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3958268&req=5

f9-sensors-14-02561: Visual comparison of the artificial sensor path (a) in white, reconstructed shape in blue and the target shapes (b).
Mentions: As shown in Figure 7, the artificial fingertip and autonomous control system are able to successfully map the perimeter of the different objects by finding and then following their raised edges. A comparison between the real and estimated perimeters of the shapes by the sensor system can be seen in Figure 9. The trajectories are not always completely closed due to the stop condition, although this is not a problem for the evaluation due to the post process convex hull built around the trajectory (Figure 9a). The length of the hull sides was used to generate the reconstructed dimensions.

Bottom Line: The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared.By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance.The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

View Article: PubMed Central - PubMed

Affiliation: Bristol Robotics Lab, T Block, Frenchay Campus, Coldharbour Lane, Bristol, BS16 1QY, UK. tareq.assaf@brl.ac.uk.

ABSTRACT
Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of the optical sensor's contact surface also allows safer interactions with objects. High-level tactile features such as edges are extrapolated from the sensor's output and the information is used to generate a tactile image. The work presented in this paper aims to investigate and evaluate this artificial fingertip for 2D shape reconstruction. The sensor was mounted on a robot arm to allow autonomous exploration of different objects. The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared. By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance. The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

No MeSH data available.