A conceptual framework for tactually guided exploration and shape perception

A conceptual framework for tactually guided exploration and shape perception using a robotic medium is provided. The conceptual framework identifies the needed sensory information, the spatial and temporal transformations of this information, the control mechanism, both feedforward and feedback, for...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 1988-02, Vol.35 (2), p.99-109
Main Authors: Hemami, H., Bay, J.S., Goddard, R.E.
Format: Article
Language:English
Subjects:
Arm
Artificial Limbs
Biological and medical sciences
Biomechanics. Biorheology
Computer Simulation
Feedback
Form Perception
Fundamental and applied biological sciences. Psychology
Machinery
Models, Biological
Physics computing
Prosthesis Design
Prosthetics
Robot sensing systems
Robotics
Sensor arrays
Sensor systems
Shape
Skin
Tactile sensors
Tissues, organs and organisms biophysics
Touch
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Summary:A conceptual framework for tactually guided exploration and shape perception using a robotic medium is provided. The conceptual framework identifies the needed sensory information, the spatial and temporal transformations of this information, the control mechanism, both feedforward and feedback, for performing the missions and the perception machinery. These attributes, in turn, sharpen the focus on the major building blocks needed in design of artificial skins, tactile sensing, and processing systems of the future. These building blocks are identification of central nervous system (CNS) machinery in living systems that perform the required computations, mappings, processors for extraction of the needed manipulation and recognition parameters, processing of outputs of populations of natural tactile sensors, and finally, understanding the dynamics of sensor-imbedded skin and artificial skin in fixed, gliding, and rolling contact with known and unknown objects and surfaces.< >
ISSN:0018-9294
1558-2531
DOI:10.1109/10.1345