Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors

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This research analyzes the active sensing ability of the human. Key point of the research is to investigate how the mechanosensitive receptors and the skin structure affect the dynamic sensing ability. At first, a mathematical model of the mechanosensitive receptors and the skin structure was developed. Then, the proposed model was applied to the muscle spindle mechanism and a new method to enhance the sensory-motor skill by using a kind of stochastic-resonance was obtained.Next, the relation between the finger-tip motion and the perception was examined. Then, tactile feedback method of the human motion was obtained which formed a task space P-SD servo controller. Consider about the skin and the mechanosensitive receptors dynamics, the proposed controller can feedback the task-space velocity nonlinearly. In addition, parameter identification method of the human motion was examined and a Jacobian based controller for the SMA actuator system and the predictive controller was obtained.