Morphological computation in haptic sensation and interaction: from nature to robotics
Morphological computation in haptic sensation and interaction: from nature to robotics
复制标题
DOI：
10.1080/01691864.2018.1447393
复制
发表时间：
2018-01-01
影响因子：
2
通讯作者：
Liu, Hongbin
中科院分区：
文献类型：
--
作者：
Bernth, Julius E.;Van Anh Ho;Liu, Hongbin
触觉或触觉在增强机器人的多功能性和能力方面发挥了重要作用。涉及非结构化或不断变化的环境的任务可以从触觉中受益匪浅。然而，这种传感系统的要求可能是复杂的。许多设计师成功地利用传感器本身的形态特性，如几何形状或材料特性，复制或取代传统计算机控制的功能，减轻中央控制器的负担。这个概念在文献中通常被称为形态计算或体现智能。本文将探讨形态计算在触觉感知中的作用，并讨论未来潜在的研究途径。在回顾中，形态计算的概念将首先被更严格地定义。接下来是对自然如何解决触摸问题的调查，以及对这些形态学原理如何启发机器人中类似系统的设计的讨论。状态的触觉系统的显示，传感和交互，利用形态计算，然后调查。最后，对触觉形态学计算的未来研究方法进行了讨论，以及在这一领域的一些主要挑战。
Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots. Tasks involving unstructured or changing environments can significantly benefit from haptic sensation. The requirements of such sensing systems can be complex, however. Many designers have succeeded in using the morphological properties of the sensors themselves, such as geometry or material properties, to replicate or replace the functions of traditional computer control, reducing the burden on the central controller. This concept is generally referred to as morphological computation or embodied intelligence in the literature. This review will investigate the role morphological computation has played in haptic sensing and discuss potential future avenues of research. In the review, the concept of morphological computation will first be more rigorously defined. This is followed by an investigation into how nature has solved the problem of touch and a discussion of how such morphological principles could inspire design of similar systems in robotics. The state of haptic systems for display, sensing and interaction that utilise morphological computation is then surveyed. Finally, approaches to future research on morphological computation in haptics are discussed as well as some of the major challenges in this field.