DocumentCode :
2723394
Title :
Tactile Retina for Slip Detection
Author :
Maldonado-López, R. ; Vidal-Verdu, F. ; Linán, G. ; Roca, E. ; Rodríguez-Vázquez, A.
Author_Institution :
Dept. of Analog & Mixed-Signal Circuit Design, IMSE-CNM-CSIC, Sevilla
fYear :
2006
fDate :
10-12 July 2006
Firstpage :
96
Lastpage :
101
Abstract :
The interest in tactile sensors is increasing as their use in complex unstructured environments is demanded, like in telepresence, minimal invasive surgery, robotics etc. The array of pressure data provided by these devices can be treated with different image processing algorithms to extract the required information. However, as in the case of vision chips or artificial retinas, problems arise when the array size and the computation complexity increase. Having a look at the skin, the information collected by every mechanoreceptor is not sent to the brain for its processing, but some complex pre-processing is performed to fit the limited throughput of the nervous system. This is specially important for high bandwidth demanding tasks. Experimental works report that neural response of skin mechanoreceptors encodes the change in local shape from an offset level rather than the absolute force or pressure distributions. Something similar happens in the retina, which implements a spatio-temporal averaging. We propose the same strategy in tactile preprocessing, and we show preliminary results illustrated for the case of slip detection, which is certainly demanding in computing requirements
Keywords :
eye; image processing; tactile sensors; artificial retinas; bioinspired chips; brain; computation complexity; image processing algorithms; information extraction; nervous system; skin mechanoreceptor neural response; slip detection; spatio-temporal averaging; tactile preprocessing; tactile retina; tactile sensors; vision chips; Computer vision; Data mining; Image processing; Minimally invasive surgery; Nervous system; Retina; Robot sensing systems; Skin; Tactile sensors; Throughput; bioinspired chips; slip detection; tactile sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Virtual Environments, Human-Computer Interfaces and Measurement Systems, Proceedings of 2006 IEEE International Conference on
Conference_Location :
La Coruna
Print_ISBN :
1-4244-0242-5
Electronic_ISBN :
1-4244-0243-3
Type :
conf
DOI :
10.1109/VECIMS.2006.250799
Filename :
4016672
Link To Document :
بازگشت