Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception
In-hand object pose estimation is challenging for humans and robots due to occlusion caused by the hand and object. This paper proposes a soft finger that integrates inner vision with kinesthetic sensing to estimate object pose inspired by human fingers. The soft finger has a flexible skeleton and s...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/6/501 |
| _version_ | 1797574582999187456 |
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| author | Xiaobo Liu Xudong Han Ning Guo Fang Wan Chaoyang Song |
| author_facet | Xiaobo Liu Xudong Han Ning Guo Fang Wan Chaoyang Song |
| author_sort | Xiaobo Liu |
| collection | DOAJ |
| description | In-hand object pose estimation is challenging for humans and robots due to occlusion caused by the hand and object. This paper proposes a soft finger that integrates inner vision with kinesthetic sensing to estimate object pose inspired by human fingers. The soft finger has a flexible skeleton and skin that adapts to different objects, and the skeleton deformations during interaction provide contact information obtained by the image from the inner camera. The proposed framework is an end-to-end method that uses raw images from soft fingers to estimate in-hand object pose. It consists of an encoder for kinesthetic information processing and an object pose and category estimator. The framework was tested on seven objects, achieving an impressive error of 2.02 mm and 11.34 degrees for pose error and 99.05% for classification. |
| first_indexed | 2024-03-10T21:24:32Z |
| format | Article |
| id | doaj.art-75ba744a0ea7416aab27bb3c4504b765 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-10T21:24:32Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-75ba744a0ea7416aab27bb3c4504b7652023-11-19T15:49:02ZengMDPI AGBiomimetics2313-76732023-10-018650110.3390/biomimetics8060501Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic PerceptionXiaobo Liu0Xudong Han1Ning Guo2Fang Wan3Chaoyang Song4Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, ChinaShenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, ChinaShenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, ChinaShenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, ChinaDepartment of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, ChinaIn-hand object pose estimation is challenging for humans and robots due to occlusion caused by the hand and object. This paper proposes a soft finger that integrates inner vision with kinesthetic sensing to estimate object pose inspired by human fingers. The soft finger has a flexible skeleton and skin that adapts to different objects, and the skeleton deformations during interaction provide contact information obtained by the image from the inner camera. The proposed framework is an end-to-end method that uses raw images from soft fingers to estimate in-hand object pose. It consists of an encoder for kinesthetic information processing and an object pose and category estimator. The framework was tested on seven objects, achieving an impressive error of 2.02 mm and 11.34 degrees for pose error and 99.05% for classification.https://www.mdpi.com/2313-7673/8/6/501object recognitionkinesthetichumanoid fingerinner-finger visiondeep learning |
| spellingShingle | Xiaobo Liu Xudong Han Ning Guo Fang Wan Chaoyang Song Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception Biomimetics object recognition kinesthetic humanoid finger inner-finger vision deep learning |
| title | Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception |
| title_full | Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception |
| title_fullStr | Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception |
| title_full_unstemmed | Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception |
| title_short | Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception |
| title_sort | bio inspired proprioceptive touch of a soft finger with inner finger kinesthetic perception |
| topic | object recognition kinesthetic humanoid finger inner-finger vision deep learning |
| url | https://www.mdpi.com/2313-7673/8/6/501 |
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