An approach to integrated tactile perception
An approach to integrated tactile perception
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一种综合触觉感知方法
DOI：
10.1109/robot.1997.606759
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
A. Starita
中科院分区：
文献类型：
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作者：
D. Taddeucci;C. Laschi;R. Lazzarini;R. Magni;P. Dario;A. Starita
本文提出了一种在数据采集和数据解释方面的触觉感知综合方法。在人类中，触摸传感是通过嵌入皮肤中的许多不同的传感元件来实现的。对感知数据的解释到基本特征（例如材料、表面形状、接触形状）的检测水平是通过在低水平上整合不同的感官输入来实现的，而不涉及高水平的认知过程。我们在本文中提出的方法遵循这种拟人化的触觉感知模型，一方面包括集成不同传感器的微型指尖，另一方面包括通过模糊神经网络实现的并行数据解释模块，该模块在同一级别处理所有不同的输入。本文描述了集成指尖传感器和神经模糊系统的特性，并详细讨论了在一组常见对象的探索任务中取得的实验结果。
This paper presents an integrated approach to tactile perception, both in terms of data acquisition and data interpretation. In humans, touch sensing is implemented through a number of different sensing elements embedded in the skin. The interpretation of perceived data to the level of detection of basic features, such as material, shape of surface, shape of contact, is achieved by integrating the different sensorial inputs at a low level, with no involvement of high level cognitive processes. The approach we propose in this paper follows this anthropomorphic model of tactile perception, by including, on one hand, a miniature fingertip integrating different sensors and, on the other hand, a parallel data interpretation module implemented through a fuzzy neural-network which processes all the different inputs at the same level. The paper describes the characteristics of the integrated fingertip sensor and of the neuro-fuzzy system, and discusses experimental results achieved during exploratory tasks on a set of common objects are discussed in detail.