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Tactile Sensing with a Tendon-Driven Soft Robotic Finger [article]

Chang Cheng, Yadong Yan, Mingjun Guan, Jianan Zhang, Yu Wang
2021 arXiv   pre-print
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed.  ...  We perform experiments to test the tactile sensing capabilities of the proposed structures, and our results indicate this method is capable of palpating texture and stiffness in both abduction and flexion  ...  Running tactile sensing experiments under more textures and varied stiffness may become an extension of this study as well.  ... 
arXiv:2107.02546v1 fatcat:lxr7222mfjgf3l4baf7ylnrxia

NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition [article]

Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
2020 arXiv   pre-print
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics.  ...  The performance of the sensor is evaluated on a texture classification task, with four spike coding methods being implemented and compared: Intensive, Spatial, Temporal and Spatiotemporal.  ...  An emerging area of biomimetic tactile sensing aims to replicate biological spike-based signalling through event-based systems and study the encoding of tactile information [8] .  ... 
arXiv:2003.00467v1 fatcat:x54hgh2vf5a4xdqr6uc3xe6cpi

ViTac: Feature Sharing between Vision and Tactile Sensing for Cloth Texture Recognition [article]

Shan Luo, Wenzhen Yuan, Edward Adelson, Anthony G. Cohn, Raul Fuentes
2018 arXiv   pre-print
) to learn a joint latent space for sharing features through vision and tactile sensing.  ...  In this paper, addressing for the first time (to the best of our knowledge) texture recognition from tactile images and vision, we propose a new fusion method named Deep Maximum Covariance Analysis (DMCA  ...  We take cloth texture recognition as the test arena for our algorithms as it is a perfect scenario for sharing features through vision and tactile sensing: the tactile sensing can perceive very detailed  ... 
arXiv:1802.07490v2 fatcat:nzuqkk4r3bhexpvs6m5hdvwr5q

Fabric Classification Using a Finger-Shaped Tactile Sensor via Robotic Sliding

Si-ao Wang, Alessandro Albini, Perla Maiolino, Fulvio Mastrogiovanni, Giorgio Cannata
2022 Frontiers in Neurorobotics  
Tactile sensing endows the robots to perceive certain physical properties of the object in contact. Robots with tactile perception can classify textures by touching.  ...  Interestingly, textures of fine micro-geometry beyond the nominal resolution of the tactile sensors can also be identified through exploratory robotic movements like sliding.  ...  Simone Denei (Ermit) in developing the tactile sensor.  ... 
doi:10.3389/fnbot.2022.808222 pmid:35280844 pmcid:PMC8904726 fatcat:ygcpfff5mvan3d3sr5kuntigyy

ViTac: Feature Sharing Between Vision and Tactile Sensing for Cloth Texture Recognition

Shan Luo, Wenzhen Yuan, Edward Adelson, Anthony G. Cohn, Raul Fuentes
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
) to learn a joint latent space for sharing features through vision and tactile sensing.  ...  In this paper, addressing for the first time (to the best of our knowledge) texture recognition from tactile images and vision, we propose a new fusion method named Deep Maximum Covariance Analysis (DMCA  ...  ) to learn a joint latent space for sharing features through vision and tactile sensing.  ... 
doi:10.1109/icra.2018.8460494 dblp:conf/icra/LuoYACF18 fatcat:ab2doven6nhtpniga7d2fyjgma

Reducing Tactile Sim2Real Domain Gaps via Deep Texture Generation Networks [article]

Tudor Jianu, Daniel Fernandes Gomes, Shan Luo
2021 arXiv   pre-print
As such, this work has the potential to accelerate the Sim2Real learning for robotic tasks requiring tactile sensing.  ...  The former is applied with generated textures learned from real textures in the real tactile images, whereas the latter maintains its appearance as when the sensor is not in contact with any object.  ...  classification using tactile images.  ... 
arXiv:2112.01807v1 fatcat:knphlgwfdjgehoa7covowikfi4

Towards Neurohaptics: Brain-Computer Interfaces for Decoding Intuitive Sense of Touch [article]

Jeong-Hyun Cho, Ji-Hoon Jeong, Myoung-Ki Kim, Seong-Whan Lee
2020 arXiv   pre-print
Through the experiment, we collected the electroencephalogram (EEG) signals with respect to four different texture objects.  ...  Seven subjects were recruited for the experiment and evaluated classification performances using machine learning and deep learning approaches.  ...  The haptic sensation is an electrical sense of objects and surfaces felt through the nerves in the skin of the fingers.  ... 
arXiv:2012.06753v2 fatcat:2lhxaqv4bnat7kmlk27gfahaoa

Fingerprint‐Enhanced Capacitive‐Piezoelectric Flexible Sensing Skin to Discriminate Static and Dynamic Tactile Stimuli

William Navaraj, Ravinder Dahiya
2019 Advanced Intelligent Systems  
tactile stimuli including static and dynamic pressures and textures is presented.  ...  With the capability of performing a real-time binary naturalistic texture classification with a maximum accuracy of 99.45%, the presented bioinspired skin finds applications in robotics, prosthesis, wearable  ...  Keywords capacitive-piezoelectric sensors, eSkins, spiking neural networks, tactile sensors, tempotron classifier  ... 
doi:10.1002/aisy.201900051 fatcat:zzevaszxdzhahn47pjesmhsble

Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor [article]

Francois Robert Hogan, Michael Jenkin, Sahand Rezaei-Shoshtari, Yogesh Girdhar, David Meger, Gregory Dudek
2020 arXiv   pre-print
This sensor, named the See-Through-your-Skin sensor (STS), is designed to provide rich multi-modal sensing of contact surfaces.  ...  We validate the ability of the sensor to classify household objects, recognize fine textures, and infer their physical properties both through numerical simulations and experiments with a smart countertop  ...  The main contributions of this paper are: • Design of a novel visuotactile sensor, the See-Through-your-Skin (STS) sensor, that combines vision-based sensing with tactile feedback.  ... 
arXiv:2011.09552v2 fatcat:wnl3s5a5gbcjzizudjlza3rw7a

Spatio-temporal encoding improves neuromorphic tactile texture classification [article]

Anupam K. Gupta, Andrei Nakagawa, Nathan F. Lepora, Nitish V. Thakor
2021 arXiv   pre-print
We found that this approach greatly improved texture classification in comparison to use of individual mechanoreceptor response alone.  ...  We study the impact of information pooling across artificial mechanoreceptors on classification performance of spatially non-uniform naturalistic textures.  ...  In this work, we focus on natural texture classification, an important surface property estimated through touch and important for myriad of tactile tasks like object recognition.  ... 
arXiv:2010.14184v2 fatcat:5o4mi23vzjgefaj4y6o57q5t4y

Design of a Biomimetic Tactile Sensor for Material Classification [article]

Kevin Dai, Xinyu Wang, Allison M. Rojas, Evan Harber, Yu Tian, Nicholas Paiva, Joseph Gnehm, Evan Schindewolf, Howie Choset, Victoria A. Webster-Wood, Lu Li
2022 arXiv   pre-print
sensing for texture classification, material inspection, and object recognition.  ...  The presented sensor is capable of detecting high-resolution magnetic field data through the Hall effect and creating high-dimensional time-frequency domain features for material texture classification  ...  Tactile sensing provides environmental and material information including surface texture, weight, thermal conductivity, and geometry [1] .  ... 
arXiv:2203.15941v1 fatcat:44vtzjaazbhgplv45zcttbuloe

Texture classification using a polymer-based MEMS tactile sensor

Sung-Hoon Kim, Jonathan Engel, Chang Liu, Douglas L Jones
2005 Journal of Micromechanics and Microengineering  
We classify surface textures using a polymer-based microelectromechanical systems (MEMS) tactile sensor array and a robust statistical approach.  ...  Texture classification is achieved by using a maximum likelihood decision rule that optimally classifies patterns in the presence of noisy signal to cope with texture variation and random noise.  ...  Through the use of a simple texture set and small array size, we have shown that low-cost, low-sensitivity and low-complexity sensing arrays can be used to identify textures.  ... 
doi:10.1088/0960-1317/15/5/003 fatcat:zzm7hxvyjnaxdkis6af3izgydy

Tactile Perception based on Injected Vibration in Soft Sensor [article]

Naoto Komeno, Takamitsu Matsubara
2021 arXiv   pre-print
Soft tactile sensors are deformed by the contact state, and the touched objects' shape or texture should change the characteristics of the vibration propagation.  ...  Our approach resulted in 70% accuracy for the grit size classification and 99% accuracy for the gap width classification.  ...  The pressure and vibration generated at the contact surface can be transmitted as pressure through the fluid and sensed by the internal hydroacoustic pressure sensor [22] , [24] .  ... 
arXiv:2104.09790v1 fatcat:6jdcdki66fcd7k5p2axxdqmh6m

The Innovative Application of Surface Texture in Fashion and Textile Design

Lin Gong, Jooyoung Shin
2013 Fashion & Textile Research Journal  
The latest feature of surface texture in fashion and textile design is identified to establish a new classification of surface texture with five groups and technical suggestions.  ...  Rather than the surface quality of fabrics, surface texture in fashion design creates its identity through a manipulation of materials-an application that tends to be primarily for visual effects without  ...  In terms of visual aesthetics, a new classification of surface texture is established through seeking the actuality and evolution of surface texture.  ... 
doi:10.5805/sfti.2013.15.3.336 fatcat:pvu6i7phj5cihhp66ng2scjny4

Whiskered texture classification with uncertain contact pose geometry

Mathew H. Evans, Martin J. Pearson, Nathan F. Lepora, Tony J. Prescott, Charles W. Fox
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Whisker based tactile sensing has recently been shown to be a promising approach for mobile robots, using simple sensors and many classification approaches.  ...  Tactile sensing can be an important source of information for robots, and texture discrimination in particular is useful in object recognition and terrain identification.  ...  Whisker based tactile sensing has recently been shown to be a promising approach for mobile robots, using simple sensors and many classification approaches.  ... 
doi:10.1109/iros.2012.6385634 dblp:conf/iros/EvansPLPF12 fatcat:j66zflmw7newrpmpv5wvjtuw64
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