【4/18更新】CiNii ArticlesのCiNii Researchへの統合について

A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness

書誌事項

タイトル別名
  • Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness

この論文をさがす

抄録

A mathematical model was formulated on the basis of results from psychophysical experiments in which human subjects discriminated fine steps on aluminum plates. The mathematical model emulated the real neuron discharge caused when a membrane potential exceeds a threshold. This membrane potential was determined by spatial and temporal summations of postsynaptic potential. To evaluate the mathematical model for surface texture recognition by robots, we performed a series of surface-detection experiments using a robotic manipulator equipped with an optical three-axis tactile sensor. The single sensor cell of this sensor consisted of a columnar feeler and a 2-by-2 array of conical feelers. The three-axis force was calculated from the area-sum and area-difference of the conical feelers’ contact areas. The robotic manipulator rubbed the tactile sensor on four brass plates with step heights of 0, 0.05, 0.1 and 0.2mm. Results showed that the mathematical model could distinguish these step heights in real time.

収録刊行物

被引用文献 (4)*注記

もっと見る

参考文献 (18)*注記

もっと見る

関連論文

もっと見る

関連研究データ

もっと見る

関連図書・雑誌

もっと見る

関連博士論文

もっと見る

関連プロジェクト

もっと見る

関連その他成果物

もっと見る

詳細情報

問題の指摘

ページトップへ