Neural network techniques for fine-form discrimination

The ability of neural network (NN) techniques in processing tensorial tactile images have been investigated. Tactile images were provided by a sensor array of 21×21 sensitive elements, realized with piezoelectric polymers, able to detect the six components of the stress tensor. Two different types of NN have been used: a multilayer perceptron trained with the backpropagation algorithm, to filter and pre-process the data (reconstruction phase) and an ART network, to recognize different object typology (classification phase)