A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness
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- OHKA Masahiro
- Graduate School of Information Science, Nagoya University
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- KAWAMURA Takuya
- Faculty of Engineering, Gifu University
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- ITAHASHI Tastuya
- Nippon Sharyo, LTD.
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- TAKAYANAGI Jyun-ichi
- Toyota Motor Co.
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- MIYAOKA Tetsu
- Faculty of Science and Technology, Shizuoka Institute of Science and Technology
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- MITSUYA Yasunaga
- Graduate School of Engineering, Nagoya University
書誌事項
- タイトル別名
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- Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness
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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
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- JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
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JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing 48 (2), 278-285, 2005
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001204679224960
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- NII論文ID
- 110004820892
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- NII書誌ID
- AA11179487
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- ISSN
- 1347538X
- 13447653
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- HANDLE
- 2237/9063
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- NDL書誌ID
- 7331248
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可