Online Morphological Adaptation for Tactile Sensing Augmentation
Sensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sen...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-07-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.665030/full |
| _version_ | 1819144460053774336 |
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| author | Josie Hughes Luca Scimeca Perla Maiolino Fumiya Iida |
| author_facet | Josie Hughes Luca Scimeca Perla Maiolino Fumiya Iida |
| author_sort | Josie Hughes |
| collection | DOAJ |
| description | Sensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sensors, and also how to enable sensor morphology to be varied. We introduce a jamming filter which, when placed over a tactile sensor, allows the filter to be shaped and molded online, thus varying the sensor structure. We demonstrate how this is beneficial for sensory tasks analyzing how the change in sensor structure varies the information that is gained using the sensor. Moreover, we show that appropriate morphology can significantly influence discrimination, and observe how the selection of an appropriate filter can increase the object classification accuracy when using standard classifiers by up to 28%. |
| first_indexed | 2024-12-22T12:42:29Z |
| format | Article |
| id | doaj.art-2ed3be58befb40f8ba37e8f7388ea83c |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-22T12:42:29Z |
| publishDate | 2021-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-2ed3be58befb40f8ba37e8f7388ea83c2022-12-21T18:25:23ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-07-01810.3389/frobt.2021.665030665030Online Morphological Adaptation for Tactile Sensing AugmentationJosie Hughes0Luca Scimeca1Perla Maiolino2Fumiya Iida3Bio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomBio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomOxford Robotics Institute, University of Oxford, Oxford, United KingdomBio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomSensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sensors, and also how to enable sensor morphology to be varied. We introduce a jamming filter which, when placed over a tactile sensor, allows the filter to be shaped and molded online, thus varying the sensor structure. We demonstrate how this is beneficial for sensory tasks analyzing how the change in sensor structure varies the information that is gained using the sensor. Moreover, we show that appropriate morphology can significantly influence discrimination, and observe how the selection of an appropriate filter can increase the object classification accuracy when using standard classifiers by up to 28%.https://www.frontiersin.org/articles/10.3389/frobt.2021.665030/fullperceptiontactile sensorssensor morphologyobject classificationmorphological computation |
| spellingShingle | Josie Hughes Luca Scimeca Perla Maiolino Fumiya Iida Online Morphological Adaptation for Tactile Sensing Augmentation Frontiers in Robotics and AI perception tactile sensors sensor morphology object classification morphological computation |
| title | Online Morphological Adaptation for Tactile Sensing Augmentation |
| title_full | Online Morphological Adaptation for Tactile Sensing Augmentation |
| title_fullStr | Online Morphological Adaptation for Tactile Sensing Augmentation |
| title_full_unstemmed | Online Morphological Adaptation for Tactile Sensing Augmentation |
| title_short | Online Morphological Adaptation for Tactile Sensing Augmentation |
| title_sort | online morphological adaptation for tactile sensing augmentation |
| topic | perception tactile sensors sensor morphology object classification morphological computation |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.665030/full |
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