scholarly journals A Model for Estimating Tactile Sensation by Machine Learning Based on Vibration Information Obtained while Touching an Object

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7772
Author(s):  
Fumiya Ito ◽  
Kenjiro Takemura
Keyword(s):  
Sensory Evaluation ◽  
Statistical Evaluation ◽  
Tactile Sensor ◽  
Added Value ◽  
Tactile Sensation ◽  
Tactile Sensing ◽  
Neural Firing ◽  
Estimation Model ◽  
Important Indicator ◽  
Sensing Technology

The tactile sensation is an important indicator of the added value of a product, and it is thus important to be able to evaluate this sensation quantitatively. Sensory evaluation is generally used to quantitatively evaluate the tactile sensation of an object. However, statistical evaluation of the tactile sensation requires many participants and is, thus, time-consuming and costly. Therefore, tactile sensing technology, as opposed to sensory evaluation, is attracting attention. In establishing tactile sensing technology, it is necessary to estimate the tactile sensation of an object from information obtained by a tactile sensor. In this research, we developed a tactile sensor made of two-layer silicone rubber with two strain gauges in each layer and obtained vibration information as the sensor traced an object. We then extracted features from the vibration information using deep autoencoders, following the nature of feature extraction by neural firing due to vibrations perceived within human fingers. We also conducted sensory evaluation to obtain tactile scores for different words from participants. We finally developed a tactile sensation estimation model for each of the seven samples and evaluated the accuracy of estimating the tactile sensation of unknown samples. We demonstrated that the developed model can properly estimate the tactile sensation for at least four of the seven samples.

A surface-shape recognition system mimicking human mechanism for tactile sensation

Robotica ◽  
2006 ◽  
Vol 24 (5) ◽  
pp. 595-602 ◽  
Author(s):  
Masahiro Ohka ◽  
Jyunichi Takayanagi ◽  
Takuya Kawamura ◽  
Yasunaga Mitsuya
Keyword(s):  
Tactile Sensor ◽  
Neural Model ◽  
Recognition System ◽  
Surface Shape ◽  
Tactile Sensation ◽  
Tactile Sensing ◽  
Object Contour ◽  
Matrix Products ◽  
Tactile Pattern ◽  
Entire Object

Tactile sensing is advantageous for the acquisition of local, proximal information such as the contact condition between a finger and an object. This type of sensing, however, is not suited for recognizing an entire object that is easily recognized by vision. The objective of this paper is to ease the limitations experienced in tactile sensing by using both a neural model based on the human tactile sensation and a tactile-oriented associative memory model to enable a robot to recognize object contours. In the model, first the direction vectors belonging to segments of the object contour are obtained from a filtered tactile pattern of the simulated neurons' excitation. Second, the vectors are quantized by the chain-symbolizing method and stored for use in a memory matrix that accumulates matrix-products between the vector and its transposition. In the recalling process, complete vectors are remembered even if some input vector elements are missing. In the experiments, a robotic manipulator equipped with a tactile sensor traces five types of contours, these being a circle, a square, a triangle, a star, and a hexagon. After the robot recalls the complete contours, it is able to recognize a complete contour by just touching even a part of a contour.

scholarly journals Application of Traditional Graphic Elements Based on Fiber Bragg Grating Tactile Sensor Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Jing Xu
Keyword(s):  
Fiber Bragg Grating ◽  
Electromagnetic Interference ◽  
Low Cost ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Sensor Technology ◽  
Bragg Grating ◽  
Tactile Sensing ◽  
External Interference ◽  
Sensing Technology

In today’s era, sensing technology has been very developed in the fields of machinery, medicine, safety monitoring, and so on. In order to be applicable to more fields, new sensing technologies are also evolving. Tactile and sensory states are two important indicators of human induction to external things. Based on the contact force information between fiber Bragg grating tactile sensor and human body, this paper uses a new fiber Bragg grating tactile sensing system to study the artistic elements of ink painting in modern graphic design. Subsequently, the structure and specific performances of the sensor experimental data are analyzed. With its small volume, low cost, high sensitivity, and good compatibility with the observed body, the new fiber Bragg grating tactile sensor will not be affected by external electromagnetic interference, various noise signals, complex integration, and other problems. According to the data observed by ink painters in this paper, the new tactile sensing technology of fiber Bragg grating can well control the external interference factors. In general, the technology is of great social and practical value.

scholarly journals Nonlinear Tactile Estimation Model based on Perceptibility of Mechanoreceptors improves Quantitative Tactile Sensing

2022 ◽  
Author(s):  
Momoko Sagara ◽  
Lisako Nobuyama ◽  
Kenjiro Takemura
Keyword(s):  
Linear Regression ◽  
Sensory Evaluation ◽  
Regression Models ◽  
Mean Squared Error ◽  
Consumer Products ◽  
Average Error ◽  
Tactile Sensing ◽  
Linear Regression Models ◽  
Estimation Model ◽  
Physical Measurements

Abstract Tactile sensing has attracted significant attention as a tactile quantitative evaluation method because the tactile sensation is an important factor while evaluating consumer products. While the human tactile perception mechanism has nonlinearity, previous studies have often developed linear regression models. In contrast, this study proposes a nonlinear tactile estimation model that can estimate sensory evaluation scores from physical measurements. We extracted features from the vibration data obtained by a tactile sensor based on the perceptibility of mechanoreceptors. In parallel, a sensory evaluation test was conducted using 10 evaluation words. Then, the relationship between the extracted features and the tactile evaluation results was modeled using linear/nonlinear regressions. The best model was concluded by comparing the mean squared error between the model predictions and the actual values. The result implies that there are multiple evaluation words suitable for adopting nonlinear regression models, and the average error was 43.8% smaller than that of building only linear regression models.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

Representation and tactile sensing of 3-D objects by a gripper finger

Robotica ◽  
1983 ◽  
Vol 1 (4) ◽  
pp. 217-222 ◽  
Author(s):  
Gen-Ichiro Kinoshita
Keyword(s):  
Tactile Sensor ◽  
Large Displacement ◽  
Tactile Sensing ◽  
Sensor Element ◽  
Maximum Displacement

SUMMARYThe tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

scholarly journals Hi-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

2012 ◽  
Vol 25 (5) ◽  
pp. 117-125
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Tadashi Maeda ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Object Manipulation ◽  
Tactile Sensing ◽  
Tactile Information ◽  
Array Type

Research on an innovative optical-wave-guided tactile sensing technology

2003 ◽  
Author(s):  
Yingjun Pan ◽  
Jiamin Liu ◽  
Weiguo M. Gong ◽  
Shengren Qiao
Keyword(s):  
Tactile Sensing ◽  
Optical Wave ◽  
Sensing Technology

A Survey of Robot Tactile Sensing Technology

1989 ◽  
Vol 8 (3) ◽  
pp. 3-30 ◽  
Author(s):  
Howard R. Nicholls ◽  
Mark H. Lee
Keyword(s):  
Tactile Sensing ◽  
Sensing Technology

Mechanics-induced triple-mode anticounterfeiting and moving tactile sensing by simultaneously utilizing instantaneous and persistent mechanoluminescence

2019 ◽  
Vol 6 (10) ◽  
pp. 2003-2008 ◽  
Author(s):  
Zhidong Ma ◽  
Jinyu Zhou ◽  
Jiachi Zhang ◽  
Songshan Zeng ◽  
Hui Zhou ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Tactile Sensing ◽  
Triple Mode

An intriguing mechanics-induced triple-mode anticounterfeiting device and a moving tactile sensor were developed by simultaneously utilizing transient and persistent mechanoluminescence.

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