The efficacy of interaction behavior and internal stiffness control for embodied information gain in haptic perception

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Title: The efficacy of interaction behavior and internal stiffness control for embodied information gain in haptic perception
Author(s): Sornkarn, N
Nanayakkara, T
Item Type: Conference Paper
Abstract: Haptic perception in biological systems not only depends on the environmental conditions, but also on the behavioral state and the internal impedance of the embodiment because proprioceptive sensors are embedded in the muscle and tendons used for actuation. A simple example of such a phenomenon can be found when people are asked to palpate a soft tissue to identify a stiff-inclusion. People tend to perform a variety of palpation strategies depending on their previous knowledge and the desired information. Does this mean that the probing behavioral variables and internal muscle impedance parameters and their interaction with given environmental conditions play a role in the perception information gain during the estimation of soft tissue's properties? In this paper, we use a two-degree of freedom laboratory-made variable stiffness and indentation probe to investigate how the modulation of probing behavioral and internal stiffness variables can affect the accuracy of the depth estimation of stiff inclusions in artificial silicon phantom tissue using information gain metrics based on prior knowledge in form of memory primitives.
Publication Date: 9-Jun-2016
Date of Acceptance: 16-May-2016
URI: http://hdl.handle.net/10044/1/51079
DOI: https://dx.doi.org/10.1109/ICRA.2016.7487425
ISBN: 9781467380263
ISSN: 1050-4729
Published Proceedings: IEEE International Conference on Robotics and Automation (ICRA) 2016
Start Page: 2657
End Page: 2662
Journal / Book Title: Proceedings - IEEE International Conference on Robotics and Automation
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Location: Stockholm, Sweden
Publication Status: Published
Start Date: 2016-05-16
Finish Date: 206-05-21
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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