Effects of Sensing Tactile Arrays, Shear Force, and Proprioception of Robot on Texture Recognition.

ABSTRACT: In robotics, tactile perception is important for fine control using robot grippers and hands. To effectively incorporate tactile perception in robots, it is essential to understand how humans use mechanoreceptors and proprioceptors to perceive texture. Thus, our study aimed to investigate the impact of tactile sensor arrays, shear force, and the positional information of the robot's end effector on its ability to recognize texture. A deep learning network was employed to classify tactile data from 24 different textures that were explored by a robot. The input values of the deep learning network were modified based on variations in the number of channels of the tactile signal, the arrangement of the tactile sensor, the presence or absence of shear force, and the positional information of th

SUBMITTER: Yang JH 

PROVIDER: S-EPMC10054873 | biostudies-literature | 2023 Mar

REPOSITORIES: biostudies-literature