Morphological computation of haptic perception of a controllable stiffness probe
File(s)
Published version
Author(s)
Sornkarn, N
Dasgupta, P
Nanayakkara, T
Type
Journal Article
Abstract
When people are asked to palpate a novel soft object to discern its physical properties such as texture, elasticity, and even non-homogeneity, they not only regulate probing behaviors, but also the co-contraction level of antagonistic muscles to control the mechanical impedance of fingers. It is suspected that such behavior tries to enhance haptic perception by regulating the function of mechanoreceptors at different depths of the fingertips and proprioceptive sensors such as tendon and spindle sensors located in muscles. In this paper, we designed and fabricated a novel two-degree of freedom variable stiffness indentation probe to investigate whether the regulation of internal stiffness, indentation, and probe sweeping velocity (PSV) variables affect the accuracy of the depth estimation of stiff inclusions in an artificial silicon phantom using information gain metrics. Our experimental results provide new insights into not only the biological phenomena of haptic perception but also new opportunities to design and control soft robotic probes.
Date Issued
2016-06-03
Date Acceptance
2016-05-23
Citation
PLOS One, 2016, 11 (6)
ISSN
1932-6203
Publisher
Public Library of Science
Journal / Book Title
PLOS One
Volume
11
Issue
6
Copyright Statement
© 2016 Sornkarn et al. This is an open
access article distributed under the terms of the
Creative Commons Attribution License
, which permits
unrestricted use, distribution, and reproduction in any
medium, provided the original author and source are
credited (https://creativecommons.org/licenses/by/4.0/)
access article distributed under the terms of the
Creative Commons Attribution License
, which permits
unrestricted use, distribution, and reproduction in any
medium, provided the original author and source are
credited (https://creativecommons.org/licenses/by/4.0/)
Identifier
http://www.ncbi.nlm.nih.gov/pubmed/27257814
PII: PONE-D-16-06887
Subjects
General Science & Technology
MD Multidisciplinary
Publication Status
Published
Coverage Spatial
United States
Article Number
ARTN e0156982