Morphological computation of haptic perception of a controllable stiffness probe

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Title: Morphological computation of haptic perception of a controllable stiffness probe
Author(s): Sornkarn, N
Dasgupta, P
Nanayakkara, T
Item 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.
Publication Date: 3-Jun-2016
Date of Acceptance: 23-May-2016
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 (
Keywords: General Science & Technology
MD Multidisciplinary
Publication Status: Published
Conference Place: United States
Article Number: e0156982
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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