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Deformation-Based Tactile Feedback Using a Biologically-Inspired Sensor and a Modified Display

Roke, Calum ; Melhuish, Chris ; Pipe, Tony ; Drury, David ; Chorley, Craig; Groß, Roderich (Editor) ; Alboul, Lyuba (Editor) ; Melhuish, Chris (Editor) ; Witkowski, Mark (Editor) ; Prescott, Tony J (Editor) ; Penders, Jacques (Editor)

Lecture Notes in Computer Science, Towards Autonomous Robotic Systems: 12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 – September 2, 2011. Proceedings, pp.114-124

ISBN: 9783642232312 ; ISBN: 3642232310 ; E-ISBN: 9783642232329 ; E-ISBN: 3642232329 ; DOI: 10.1007/978-3-642-23232-9_11

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  • Nhan đề:
    Deformation-Based Tactile Feedback Using a Biologically-Inspired Sensor and a Modified Display
  • Tác giả: Roke, Calum ; Melhuish, Chris ; Pipe, Tony ; Drury, David ; Chorley, Craig
  • Groß, Roderich (Editor) ; Alboul, Lyuba (Editor) ; Melhuish, Chris (Editor) ; Witkowski, Mark (Editor) ; Prescott, Tony J (Editor) ; Penders, Jacques (Editor)
  • Chủ đề: Computer Science ; Artificial Intelligence (Incl. Robotics) ; Image Processing and Computer Vision ; User Interfaces and Human Computer Interaction ; Engineering ; Computer Science
  • Là 1 phần của: Lecture Notes in Computer Science, Towards Autonomous Robotic Systems: 12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 – September 2, 2011. Proceedings, pp.114-124
  • Mô tả: Skin deformation has been previously shown as vital for lump detection during the direct manipulation of an object. A deformation-based tactile feedback system is developed and presented that senses and displays this tactile information for palpation in tele-surgical applications. A biologically-inspired tactile sensor modelled from the human fingertip is used to obtain the skin deformation during interaction. It does this by measuring the displacement of the sensor’s artificial intermediate epidermal ridges using a simple, computationally-efficient algorithm. The design of a previously-published tactile shape display is then recreated and improved for relaying this sensed information on to a human user’s fingertip. This tactile display uses remote actuation to reduce the mass of the display, avoiding the issue of adding a large mass to a tele-operation interface. The tactors within the developed display exhibit 2.5 mm displacement, with a 2.5 mm spacing, 12 Hz bandwidth and a stiffness of 5.0 N/mm. A linear relationship is found between sensor deformation and tactor displacement and the spatial performance of the system is proven by successfully detecting lumps within artificial muscle tissue. This new deformation-based tactile system offers an intuitive sense of touch with minimal processing.
  • Nơi xuất bản: Berlin, Heidelberg: Springer Berlin Heidelberg
  • Năm xuất bản: 2011
  • Ngôn ngữ: English
  • Số nhận dạng: ISBN: 9783642232312 ; ISBN: 3642232310 ; E-ISBN: 9783642232329 ; E-ISBN: 3642232329 ; DOI: 10.1007/978-3-642-23232-9_11

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