article · 11/08/2011
The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features
Voir chez l’éditeurArticle en PDF
Résumé
We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor's response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile transduction. The modification of the response induced by varying other parameters, such as the thickness of the elastic layer and the confining load, are also correctly captured by this model. We further demonstrate that the knowledge of these characteristic responses allows one to dynamically evaluate the position of a small hole within the contact zone, based on the micro-force sensors signals, with a spatial resolution an order of magnitude better than the intrinsic resolution of individual sensors. Consequences of these observations on robotic tactile sensing are briefly discussed.
Citer cet article
Candelier, R., Prevost, A., & Debregeas, G. (2011). The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features. Sensors, 11(8). https://doi.org/10.3390/s110807934@article{Candelier2011_8,
author = {Candelier, Raphael and Prevost, Alexis and Debregeas, Georges},
year = {2011},
month = {8},
title = {The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features},
journal = {Sensors},
publisher = {MDPI AG},
volume = {11},
number = {8},
address = {ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND},
abstract = {We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor's response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile transduction. The modification of the response induced by varying other parameters, such as the thickness of the elastic layer and the confining load, are also correctly captured by this model. We further demonstrate that the knowledge of these characteristic responses allows one to dynamically evaluate the position of a small hole within the contact zone, based on the micro-force sensors signals, with a spatial resolution an order of magnitude better than the intrinsic resolution of individual sensors. Consequences of these observations on robotic tactile sensing are briefly discussed.},
url = {http://www.dx.doi.org/10.3390/s110807934},
doi = {10.3390/s110807934},
issn = {1424-8220},
}TY - JOUR
AU - Candelier, Raphael
AU - Prevost, Alexis
AU - Debregeas, Georges
PY - 2011
DA - 2011/08/11
TI - The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features
JO - Sensors
VL - 11
IS - 8
PB - MDPI AG
SN - 1424-8220
AB - We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor's response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile transduction. The modification of the response induced by varying other parameters, such as the thickness of the elastic layer and the confining load, are also correctly captured by this model. We further demonstrate that the knowledge of these characteristic responses allows one to dynamically evaluate the position of a small hole within the contact zone, based on the micro-force sensors signals, with a spatial resolution an order of magnitude better than the intrinsic resolution of individual sensors. Consequences of these observations on robotic tactile sensing are briefly discussed.
DO - 10.3390/s110807934
UR - http://www.dx.doi.org/10.3390/s110807934
ER -