[Updated on Apr. 18] Integration of CiNii Articles into CiNii Research

A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Unevenness

Bibliographic Information

Other Title
  • ヒトの表面粗さ認識機構を模倣した触覚認識システム
  • ヒト ノ ヒョウメン アラサ ニンシキ キコウ オ モホウ シタ ショッカク ニンシキ システム

Search this article


A mathematical model was formulated on the basis of the results of 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. The 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 0.2 mm. It was found that the mathematical model could distinguish these step-heights.


Citations (8)*help

See more


See more


Report a problem

Back to top