A soft, amorphous skin that can sense and localize textures
A soft, amorphous skin that can sense and localize textures
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柔软、无定形的皮肤，可以感知和定位纹理
DOI：
10.1109/icra.2014.6907101
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
N. Correll
中科院分区：
文献类型：
--
作者：
Dana Hughes;N. Correll
我们展示了一种柔软的无定形皮肤，它可以感知和定位纹理。这种皮肤由一系列传感和计算元素组成，这些元素与它们的局部邻居联网，模仿了人类皮肤中的太平洋小体的功能。每个传感器节点以1khz采样振动信号，将信号转换到频域，并使用逻辑回归对多达15种纹理进行分类。通过测量信号的功率谱并将其与局部相邻信号进行比较，计算单元可以协同估计刺激的位置。由此产生的低带宽信息，包括纹理概率分布及其位置，然后以多跳方式路由到皮肤中的任何接收器。我们描述了设计、制造、分类、定位和网络算法，并实验验证了所提出的方法。特别是，我们使用十个网络传感器节点在大约三平方英尺的区域内演示了纹理分类的71%精度和厘米精度。
We present a soft, amorphous skin that can sense and localize textures. The skin consists of a series of sensing and computing elements that are networked with their local neighbors and mimic the function of the Pacinian corpuscle in human skin. Each sensor node samples a vibration signal at 1 KHz, transforms the signal into the frequency domain, and classifies up to 15 textures using logistic regression. By measuring the power spectrum of the signal and comparing it with its local neighbors, computing elements can then collaboratively estimate the location of the stimulus. The resulting low-bandwidth information, consisting of the texture probability distribution and its location are then routed to a sink anywhere in the skin in a multi-hop fashion. We describe the design, manufacturing, classification, localization and networking algorithms and experimentally validate the proposed approach. In particular, we demonstrate texture classification with 71% accuracy and centimeter accuracy in localization over an area of approximately three square feet using ten networked sensor nodes.