Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.
Identifieur interne : 003087 ( Ncbi/Checkpoint ); précédent : 003086; suivant : 003088Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.
Auteurs : Ruben D. Ponce Wong ; Randall B. Hellman ; Veronica J. SantosSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics.
- physiology : Feedback, Sensory, Form Perception, Touch Perception.
- standards : Artificial Limbs.
- Humans, Skin Physiological Phenomena.
Abstract
Upper-limb amputees rely primarily on visual feedback when using their prostheses to interact with others or objects in their environment. A constant reliance upon visual feedback can be mentally exhausting and does not suffice for many activities when line-of-sight is unavailable. Upper-limb amputees could greatly benefit from the ability to perceive edges, one of the most salient features of 3D shape, through touch alone. We present an approach for estimating edge orientation with respect to an artificial fingertip through haptic exploration using a multimodal tactile sensor on a robot hand. Key parameters from the tactile signals for each of four exploratory procedures were used as inputs to a support vector regression model. Edge orientation angles ranging from -90 to 90 degrees were estimated with an 85-input model having an R (2) of 0.99 and RMS error of 5.08 degrees. Electrode impedance signals provided the most useful inputs by encoding spatially asymmetric skin deformation across the entire fingertip. Interestingly, sensor regions that were not in direct contact with the stimulus provided particularly useful information. Methods described here could pave the way for semi-autonomous capabilities in prosthetic or robotic hands during haptic exploration, especially when visual feedback is unavailable.
DOI: 10.1109/TOH.2013.56
PubMed: 24960552
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000616
- to stream PubMed, to step Curation: 000616
- to stream PubMed, to step Checkpoint: 002264
- to stream Ncbi, to step Merge: 003087
- to stream Ncbi, to step Curation: 003087
Links to Exploration step
pubmed:24960552Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.</title>
<author><name sortKey="Ponce Wong, Ruben D" sort="Ponce Wong, Ruben D" uniqKey="Ponce Wong R" first="Ruben D" last="Ponce Wong">Ruben D. Ponce Wong</name>
</author>
<author><name sortKey="Hellman, Randall B" sort="Hellman, Randall B" uniqKey="Hellman R" first="Randall B" last="Hellman">Randall B. Hellman</name>
</author>
<author><name sortKey="Santos, Veronica J" sort="Santos, Veronica J" uniqKey="Santos V" first="Veronica J" last="Santos">Veronica J. Santos</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="????"><PubDate><MedlineDate>2014 Apr-Jun</MedlineDate>
</PubDate>
</date>
<idno type="doi">10.1109/TOH.2013.56</idno>
<idno type="RBID">pubmed:24960552</idno>
<idno type="pmid">24960552</idno>
<idno type="wicri:Area/PubMed/Corpus">000616</idno>
<idno type="wicri:Area/PubMed/Curation">000616</idno>
<idno type="wicri:Area/PubMed/Checkpoint">002264</idno>
<idno type="wicri:Area/Ncbi/Merge">003087</idno>
<idno type="wicri:Area/Ncbi/Curation">003087</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">003087</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.</title>
<author><name sortKey="Ponce Wong, Ruben D" sort="Ponce Wong, Ruben D" uniqKey="Ponce Wong R" first="Ruben D" last="Ponce Wong">Ruben D. Ponce Wong</name>
</author>
<author><name sortKey="Hellman, Randall B" sort="Hellman, Randall B" uniqKey="Hellman R" first="Randall B" last="Hellman">Randall B. Hellman</name>
</author>
<author><name sortKey="Santos, Veronica J" sort="Santos, Veronica J" uniqKey="Santos V" first="Veronica J" last="Santos">Veronica J. Santos</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on haptics</title>
<idno type="eISSN">2329-4051</idno>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Artificial Limbs (standards)</term>
<term>Feedback, Sensory (physiology)</term>
<term>Form Perception (physiology)</term>
<term>Humans</term>
<term>Robotics (instrumentation)</term>
<term>Skin Physiological Phenomena</term>
<term>Touch Perception (physiology)</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term>
</keywords>
<keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Feedback, Sensory</term>
<term>Form Perception</term>
<term>Touch Perception</term>
</keywords>
<keywords scheme="MESH" qualifier="standards" xml:lang="en"><term>Artificial Limbs</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Humans</term>
<term>Skin Physiological Phenomena</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Upper-limb amputees rely primarily on visual feedback when using their prostheses to interact with others or objects in their environment. A constant reliance upon visual feedback can be mentally exhausting and does not suffice for many activities when line-of-sight is unavailable. Upper-limb amputees could greatly benefit from the ability to perceive edges, one of the most salient features of 3D shape, through touch alone. We present an approach for estimating edge orientation with respect to an artificial fingertip through haptic exploration using a multimodal tactile sensor on a robot hand. Key parameters from the tactile signals for each of four exploratory procedures were used as inputs to a support vector regression model. Edge orientation angles ranging from -90 to 90 degrees were estimated with an 85-input model having an R (2) of 0.99 and RMS error of 5.08 degrees. Electrode impedance signals provided the most useful inputs by encoding spatially asymmetric skin deformation across the entire fingertip. Interestingly, sensor regions that were not in direct contact with the stimulus provided particularly useful information. Methods described here could pave the way for semi-autonomous capabilities in prosthetic or robotic hands during haptic exploration, especially when visual feedback is unavailable.</div>
</front>
</TEI>
<affiliations><list></list>
<tree><noCountry><name sortKey="Hellman, Randall B" sort="Hellman, Randall B" uniqKey="Hellman R" first="Randall B" last="Hellman">Randall B. Hellman</name>
<name sortKey="Ponce Wong, Ruben D" sort="Ponce Wong, Ruben D" uniqKey="Ponce Wong R" first="Ruben D" last="Ponce Wong">Ruben D. Ponce Wong</name>
<name sortKey="Santos, Veronica J" sort="Santos, Veronica J" uniqKey="Santos V" first="Veronica J" last="Santos">Veronica J. Santos</name>
</noCountry>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Ncbi/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003087 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Ncbi/Checkpoint/biblio.hfd -nk 003087 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Ncbi |étape= Checkpoint |type= RBID |clé= pubmed:24960552 |texte= Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration. }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Ncbi/Checkpoint/RBID.i -Sk "pubmed:24960552" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Ncbi/Checkpoint/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
![]() | This area was generated with Dilib version V0.6.23. | ![]() |