Haptic Edge Detection Through Shear
Identifieur interne : 000189 ( Main/Exploration ); précédent : 000188; suivant : 000190Haptic Edge Detection Through Shear
Auteurs : Jonathan Platkiewicz [États-Unis] ; Hod Lipson [États-Unis] ; Vincent Hayward [France]Source :
- Scientific Reports [ 2045-2322 ] ; 2016.
Abstract
Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.
Url:
DOI: 10.1038/srep23551
PubMed: 27009331
PubMed Central: 4806378
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 000651
- to stream Pmc, to step Curation: 000651
- to stream Pmc, to step Checkpoint: 000108
- to stream PubMed, to step Corpus: 000063
- to stream PubMed, to step Curation: 000063
- to stream PubMed, to step Checkpoint: 000095
- to stream Ncbi, to step Merge: 004114
- to stream Ncbi, to step Curation: 004114
- to stream Ncbi, to step Checkpoint: 004114
- to stream Hal, to step Corpus: 000251
- to stream Hal, to step Curation: 000251
- to stream Hal, to step Checkpoint: 000004
- to stream Main, to step Merge: 000189
- to stream Main, to step Curation: 000189
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Haptic Edge Detection Through Shear</title><author><name sortKey="Platkiewicz, Jonathan" sort="Platkiewicz, Jonathan" uniqKey="Platkiewicz J" first="Jonathan" last="Platkiewicz">Jonathan Platkiewicz</name><affiliation wicri:level="1"><nlm:aff id="a1"><institution>The City College of New York, The City University of New York, Department of Mathematics</institution>, New York, NY 10031,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Lipson, Hod" sort="Lipson, Hod" uniqKey="Lipson H" first="Hod" last="Lipson">Hod Lipson</name><affiliation wicri:level="1"><nlm:aff id="a2"><institution>Columbia University, Department of Mechanical Engineering</institution>, New York, NY 10027,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="1"><nlm:aff id="a3"><institution>Sorbonne Universités, UPMC Univ Paris 06</institution>, UMR 7222, ISIR, F-75005, Paris,<country>France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">27009331</idno><idno type="pmc">4806378</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4806378</idno><idno type="RBID">PMC:4806378</idno><idno type="doi">10.1038/srep23551</idno><date when="2016">2016</date><idno type="wicri:Area/Pmc/Corpus">000651</idno><idno type="wicri:Area/Pmc/Curation">000651</idno><idno type="wicri:Area/Pmc/Checkpoint">000108</idno><idno type="wicri:source">PubMed</idno><idno type="wicri:Area/PubMed/Corpus">000063</idno><idno type="wicri:Area/PubMed/Curation">000063</idno><idno type="wicri:Area/PubMed/Checkpoint">000095</idno><idno type="wicri:Area/Ncbi/Merge">004114</idno><idno type="wicri:Area/Ncbi/Curation">004114</idno><idno type="wicri:Area/Ncbi/Checkpoint">004114</idno><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:hal-01296656</idno><idno type="url">http://hal.upmc.fr/hal-01296656</idno><idno type="wicri:Area/Hal/Corpus">000251</idno><idno type="wicri:Area/Hal/Curation">000251</idno><idno type="wicri:Area/Hal/Checkpoint">000004</idno><idno type="wicri:doubleKey">2045-2322:2016:Platkiewicz J:haptic:edge:detection</idno><idno type="wicri:Area/Main/Merge">000189</idno><idno type="wicri:Area/Main/Curation">000189</idno><idno type="wicri:Area/Main/Exploration">000189</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Haptic Edge Detection Through Shear</title><author><name sortKey="Platkiewicz, Jonathan" sort="Platkiewicz, Jonathan" uniqKey="Platkiewicz J" first="Jonathan" last="Platkiewicz">Jonathan Platkiewicz</name><affiliation wicri:level="1"><nlm:aff id="a1"><institution>The City College of New York, The City University of New York, Department of Mathematics</institution>, New York, NY 10031,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Lipson, Hod" sort="Lipson, Hod" uniqKey="Lipson H" first="Hod" last="Lipson">Hod Lipson</name><affiliation wicri:level="1"><nlm:aff id="a2"><institution>Columbia University, Department of Mechanical Engineering</institution>, New York, NY 10027,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="1"><nlm:aff id="a3"><institution>Sorbonne Universités, UPMC Univ Paris 06</institution>, UMR 7222, ISIR, F-75005, Paris,<country>France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></analytic><series><title level="j">Scientific Reports</title><idno type="eISSN">2045-2322</idno><imprint><date when="2016">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Koenderink, J J" uniqKey="Koenderink J">J. J. Koenderink</name></author><author><name sortKey="Van Doorn, A J" uniqKey="Van Doorn A">A. J. van Doorn</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Adelson, E H" uniqKey="Adelson E">E. H. Adelson</name></author><author><name sortKey="Bergen, J R" uniqKey="Bergen J">J. R. Bergen</name></author><author><name sortKey="Landy, M" uniqKey="Landy M">M. Landy</name></author><author><name sortKey="Movshon, J A" uniqKey="Movshon J">J. A. Movshon</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Howe, C Q" uniqKey="Howe C">C. Q. Howe</name></author><author><name sortKey="Purves, D" uniqKey="Purves D">D. Purves</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Horn, B" uniqKey="Horn B">B. Horn</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Connor, C E" uniqKey="Connor C">C. E. Connor</name></author><author><name sortKey="Brincat, S L" uniqKey="Brincat S">S. L. Brincat</name></author><author><name sortKey="Pasupathy, A" uniqKey="Pasupathy A">A. Pasupathy</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Orban, G A" uniqKey="Orban G">G. A. Orban</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Marr, D" uniqKey="Marr D">D. Marr</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Koenderink, J J" uniqKey="Koenderink J">J. J. Koenderink</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lindeberg, T" uniqKey="Lindeberg T">T. Lindeberg</name></author><author><name sortKey="Wah, B" uniqKey="Wah B">B. Wah</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Palmer, S" uniqKey="Palmer S">S. Palmer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rolls, E T" uniqKey="Rolls E">E. T. Rolls</name></author><author><name sortKey="Deco, G" uniqKey="Deco G">G. Deco</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lowe, D G" uniqKey="Lowe D">D. G. Lowe</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Bensmaia, S J" uniqKey="Bensmaia S">S. J. Bensmaia</name></author><author><name sortKey="Denchev, P V" uniqKey="Denchev P">P. V. Denchev</name></author><author><name sortKey="Dammann, J F" uniqKey="Dammann J">J. F. Dammann</name></author><author><name sortKey="Craig, J C" uniqKey="Craig J">J. C. Craig</name></author><author><name sortKey="Hsiao, S S" uniqKey="Hsiao S">S. S. Hsiao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Plaisier, M A" uniqKey="Plaisier M">M. A. Plaisier</name></author><author><name sortKey="Bergmann Tiest, W M" uniqKey="Bergmann Tiest W">W. M. Bergmann Tiest</name></author><author><name sortKey="Kappers, A M" uniqKey="Kappers A">A. M. Kappers</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Briot, M" uniqKey="Briot M">M. Briot</name></author><author><name sortKey="Renaud, M" uniqKey="Renaud M">M. Renaud</name></author><author><name sortKey="Stojilkovic, Z" uniqKey="Stojilkovic Z">Z. Stojilkovic</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hillis, W D" uniqKey="Hillis W">W. D. Hillis</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Harmon, L R" uniqKey="Harmon L">L. R. Harmon</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nicholls, H R" uniqKey="Nicholls H">H. R. Nicholls</name></author><author><name sortKey="Lee, M H" uniqKey="Lee M">M. H. Lee</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lee, M H" uniqKey="Lee M">M. H. Lee</name></author><author><name sortKey="Nicholls, H R" uniqKey="Nicholls H">H. R. Nicholls</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Cutkosky, M R" uniqKey="Cutkosky M">M. R. Cutkosky</name></author><author><name sortKey="Howe, R D" uniqKey="Howe R">R. D. Howe</name></author><author><name sortKey="Provancher, W R" uniqKey="Provancher W">W. R. Provancher</name></author><author><name sortKey="Siciliano, B" uniqKey="Siciliano B">B. Siciliano</name></author><author><name sortKey="Kathib, O" uniqKey="Kathib O">O. Kathib</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Dahiya, R S" uniqKey="Dahiya R">R. S. Dahiya</name></author><author><name sortKey="Metta, G" uniqKey="Metta G">G. Metta</name></author><author><name sortKey="Valle, M" uniqKey="Valle M">M. Valle</name></author><author><name sortKey="Sandini, G" uniqKey="Sandini G">G. Sandini</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lucarotti, C" uniqKey="Lucarotti C">C. Lucarotti</name></author><author><name sortKey="Oddo, C M" uniqKey="Oddo C">C. M. Oddo</name></author><author><name sortKey="Vitiello, N" uniqKey="Vitiello N">N. Vitiello</name></author><author><name sortKey="Carrozza, M C" uniqKey="Carrozza M">M. C. Carrozza</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hammock, M L" uniqKey="Hammock M">M. L. Hammock</name></author><author><name sortKey="Chortos, A" uniqKey="Chortos A">A. Chortos</name></author><author><name sortKey="Tee, B C K" uniqKey="Tee B">B. C. K. Tee</name></author><author><name sortKey="Tok, J B H" uniqKey="Tok J">J. B. H. Tok</name></author><author><name sortKey="Bao, Z" uniqKey="Bao Z">Z. Bao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Phillips, J R" uniqKey="Phillips J">J. R. Phillips</name></author><author><name sortKey="Johnson, K O" uniqKey="Johnson K">K. O. Johnson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Phillips, J R" uniqKey="Phillips J">J. R. Phillips</name></author><author><name sortKey="Johnson, K O" uniqKey="Johnson K">K. O. Johnson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sripati, A P" uniqKey="Sripati A">A. P. Sripati</name></author><author><name sortKey="Bensmaia, S J" uniqKey="Bensmaia S">S. J. Bensmaia</name></author><author><name sortKey="Johnson, K O" uniqKey="Johnson K">K. O. Johnson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gerling, G J" uniqKey="Gerling G">G. J. Gerling</name></author><author><name sortKey="Rivest, I I" uniqKey="Rivest I">I. I. Rivest</name></author><author><name sortKey="Lesniak, D R" uniqKey="Lesniak D">D. R. Lesniak</name></author><author><name sortKey="Scanlon, J R" uniqKey="Scanlon J">J. R. Scanlon</name></author><author><name sortKey="Wan, L" uniqKey="Wan L">L. Wan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Brown, E" uniqKey="Brown E">E. Brown</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Amend, J" uniqKey="Amend J">J. Amend</name></author><author><name sortKey="Brown, E" uniqKey="Brown E">E. Brown</name></author><author><name sortKey="Rodenberg, N" uniqKey="Rodenberg N">N. Rodenberg</name></author><author><name sortKey="Jaeger, H" uniqKey="Jaeger H">H. Jaeger</name></author><author><name sortKey="Lipson, H" uniqKey="Lipson H">H. Lipson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Howe, R" uniqKey="Howe R">R. Howe</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ricker, S L" uniqKey="Ricker S">S. L. Ricker</name></author><author><name sortKey="Ellis, R E" uniqKey="Ellis R">R. E. Ellis</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wang, Q" uniqKey="Wang Q">Q. Wang</name></author><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Witkin, A P" uniqKey="Witkin A">A. P. Witkin</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author><author><name sortKey="Grunwald, M" uniqKey="Grunwald M">M. Grunwald</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Li, R" uniqKey="Li R">R. Li</name></author><author><name sortKey="Adelson, E H" uniqKey="Adelson E">E. H. Adelson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Marr, D" uniqKey="Marr D">D. Marr</name></author><author><name sortKey="Hildreth, E" uniqKey="Hildreth E">E. Hildreth</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johnson, K L" uniqKey="Johnson K">K. L. Johnson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Yuille, A L" uniqKey="Yuille A">A. L. Yuille</name></author><author><name sortKey="Poggio, T A" uniqKey="Poggio T">T. A. Poggio</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Fearing, R S" uniqKey="Fearing R">R. S. Fearing</name></author><author><name sortKey="Hollerbach, J M" uniqKey="Hollerbach J">J. M. Hollerbach</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ferrier, N J" uniqKey="Ferrier N">N. J. Ferrier</name></author><author><name sortKey="Brockett, R W" uniqKey="Brockett R">R. W. Brockett</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Chorley, C" uniqKey="Chorley C">C. Chorley</name></author><author><name sortKey="Melhuish, C" uniqKey="Melhuish C">C. Melhuish</name></author><author><name sortKey="Pipe, T" uniqKey="Pipe T">T. Pipe</name></author><author><name sortKey="Rossiter, J" uniqKey="Rossiter J">J. Rossiter</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sato, K" uniqKey="Sato K">K. Sato</name></author><author><name sortKey="Kamiyama, K" uniqKey="Kamiyama K">K. Kamiyama</name></author><author><name sortKey="Kawakami, N" uniqKey="Kawakami N">N. Kawakami</name></author><author><name sortKey="Tachi, S" uniqKey="Tachi S">S. Tachi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johnson, M K" uniqKey="Johnson M">M. K. Johnson</name></author><author><name sortKey="Adelson, E H" uniqKey="Adelson E">E. H. Adelson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Levesque, V" uniqKey="Levesque V">V. Levesque</name></author><author><name sortKey="Pasquero, J" uniqKey="Pasquero J">J. Pasquero</name></author><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author><author><name sortKey="Legault, M" uniqKey="Legault M">M. Legault</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author><author><name sortKey="Cruz Hernandez, M" uniqKey="Cruz Hernandez M">M. Cruz-Hernandez</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nakatani, M" uniqKey="Nakatani M">M. Nakatani</name></author><author><name sortKey="Howe, R D" uniqKey="Howe R">R. D. Howe</name></author><author><name sortKey="Tachi, S" uniqKey="Tachi S">S. Tachi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nakatani, M" uniqKey="Nakatani M">M. Nakatani</name></author><author><name sortKey="Howe, R D" uniqKey="Howe R">R. D. Howe</name></author><author><name sortKey="Tachi, S" uniqKey="Tachi S">S. Tachi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nakatani, M" uniqKey="Nakatani M">M. Nakatani</name></author><author><name sortKey="Sato, A" uniqKey="Sato A">A. Sato</name></author><author><name sortKey="Tachi, S" uniqKey="Tachi S">S. Tachi</name></author><author><name sortKey="Hayward, V" uniqKey="Hayward V">V. Hayward</name></author><author><name sortKey="Ferre, M" uniqKey="Ferre M">M. Ferre</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kikkuwe, R" uniqKey="Kikkuwe R">R. Kikkuwe</name></author><author><name sortKey="Sano, A" uniqKey="Sano A">A. Sano</name></author><author><name sortKey="Mochiyama, H" uniqKey="Mochiyama H">H. Mochiyama</name></author><author><name sortKey="Takesue, N" uniqKey="Takesue N">N. Takesue</name></author><author><name sortKey="Fujimoto, H" uniqKey="Fujimoto H">H. Fujimoto</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Handzic, I" uniqKey="Handzic I">I. Handzic</name></author><author><name sortKey="Reed, K B" uniqKey="Reed K">K. B. Reed</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hsiao, S" uniqKey="Hsiao S">S. Hsiao</name></author><author><name sortKey="Johnson, K O" uniqKey="Johnson K">K. O. Johnson</name></author><author><name sortKey="Yoshioka, T" uniqKey="Yoshioka T">T. Yoshioka</name></author><author><name sortKey="Weiner, I B" uniqKey="Weiner I">I. B. Weiner</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Pruszynski, J A" uniqKey="Pruszynski J">J. A. Pruszynski</name></author><author><name sortKey="Johansson, R S" uniqKey="Johansson R">R. S. Johansson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Jorntell, H" uniqKey="Jorntell H">H. Jörntell</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Torre, V" uniqKey="Torre V">V. Torre</name></author><author><name sortKey="Poggio, T A" uniqKey="Poggio T">T. A. Poggio</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Argatov, I I" uniqKey="Argatov I">I. I. Argatov</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Estrada, R" uniqKey="Estrada R">R. Estrada</name></author><author><name sortKey="Kanwal, R P" uniqKey="Kanwal R">R. P. Kanwal</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lindell, I V" uniqKey="Lindell I">I. V. Lindell</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hsiao, S" uniqKey="Hsiao S">S. Hsiao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Speeter, T H" uniqKey="Speeter T">T. H. Speeter</name></author></analytic></biblStruct></listBibl></div1></back></TEI><affiliations><list><country><li>France</li><li>États-Unis</li></country></list><tree><country name="États-Unis"><noRegion><name sortKey="Platkiewicz, Jonathan" sort="Platkiewicz, Jonathan" uniqKey="Platkiewicz J" first="Jonathan" last="Platkiewicz">Jonathan Platkiewicz</name></noRegion><name sortKey="Lipson, Hod" sort="Lipson, Hod" uniqKey="Lipson H" first="Hod" last="Lipson">Hod Lipson</name></country><country name="France"><noRegion><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000189 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 000189 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= PMC:4806378
|texte= Haptic Edge Detection Through Shear
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:27009331" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |