NEUROFEEL: SOFTWARE AND HARDWARE METHODS FOR PHYSICAL INTERACTION VIA EVENT-BASED TACTILE SENSOR
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Date
2024-04-23
Authors
Seitzhan, Saltanat
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Engineering and Digital Sciences
Abstract
Achieving the same or even superior accuracy in tasks performed by human hands
is a paramount goal for machines [39]. To meet this demand, the development
of tactile sensors that seamlessly adapt to diverse environments and conditions is
essential. Drawing inspiration from the intricacies of the human tactile perception
system, particularly the bio-inspired mechanoreceptors (both SA and FA), this paper
introduces a novel approach by incorporating soft silicon fingertip with an event-based
camera.
In a pioneering endeavor, this optical sensor seamlessly integrates soft robotics,
optical sensing, leveraging event-based vision, and the incorporation of whisker sens-
ing. The optical sensing component offers heightened spatial resolution compared to
traditional sensing systems, while the event-based nature of the camera employed in
this sensor delivers an unprecedented temporal resolution—1,000 to 1,000,000 events
per second [46]. This exceptional temporal resolution is particularly crucial for tasks
such as texture detection.
At the forefront of the sensor lies a silicon-made tip, mirroring the flexibility of
human skin. This bio-inspired design ensures a tactile sensor with not only advanced
optical capabilities but also a structure that emulates the adaptability and responsive-
ness of the human touch. The sensor’s potential is further accentuated as it undergoes
testing through a texture discrimination task. To facilitate this, a specialized algo-
rithm, tailored to handle the event data output of the camera, will be implemented.
This algorithm sets the groundwork for future advancements, with the intention of
evolving into a sophisticated ML/DL algorithm. By integrating these bio-inspired
principles, the proposed sensor endeavors to push the boundaries of tactile sensing,
contributing to the development of machines capable of various types of interactions
like texture recognition, slip detection, static and dynamic pressure sensing.
Description
Keywords
Type of access: Restricted, tactile robotics, neurovision, optical tactile sensing, robot control
Citation
Seitzhan, S. (2024). NeuroFeel: software and hardware methods for physical interaction via event-based tactile sensor. Nazarbayev University School of Engineering and Digital Sciences