Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening
The mechanical properties of a sensor strongly affect its tactile sensing capabilities. The role of morphology and stiffness on the quality of the tactile data has already been the subject of several studies, which focus mainly on static sensor designs and design methodologies. However, static desig...
| Main Authors: | , , , , |
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| Format: | Journal article |
| Language: | English |
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IEEE
2022
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| _version_ | 1797107674724171776 |
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| author | Costi, L Tagliabue, A Maiolino, P Clemens, F Iida, F |
| author_facet | Costi, L Tagliabue, A Maiolino, P Clemens, F Iida, F |
| author_sort | Costi, L |
| collection | OXFORD |
| description | The mechanical properties of a sensor strongly affect its tactile sensing capabilities. The role of morphology and stiffness on the quality of the tactile data has already been the subject of several studies, which focus mainly on static sensor designs and design methodologies. However, static designs always come with trade-offs: considering stiffness, soft compliant sensors ensure a better contact, but at the price of mechanically filtering and altering the detected signal. Conversely, online adaptable filters can tune their characteristics, becoming softer or stiffer when needed. We propose a magneto-active elastomer filter which, when placed on top of the tactile unit, allows the sensor to change its stiffness on demand. We showcase the advantages provided by online stiffening adaptation in terms of information gained and data structure. Moreover, we illustrate how adaptive stiffening influences classification, using 9 standard machine learning algorithms, and how adaptive stiffening can increase the classification accuracy up to 34% with respect to static stiffness control. |
| first_indexed | 2024-03-07T07:19:12Z |
| format | Journal article |
| id | oxford-uuid:00a1fc08-6530-4609-8f06-2b652005a4ac |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T07:19:12Z |
| publishDate | 2022 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:00a1fc08-6530-4609-8f06-2b652005a4ac2022-09-23T06:45:41ZMagneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffeningJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:00a1fc08-6530-4609-8f06-2b652005a4acEnglishSymplectic ElementsIEEE2022Costi, LTagliabue, AMaiolino, PClemens, FIida, FThe mechanical properties of a sensor strongly affect its tactile sensing capabilities. The role of morphology and stiffness on the quality of the tactile data has already been the subject of several studies, which focus mainly on static sensor designs and design methodologies. However, static designs always come with trade-offs: considering stiffness, soft compliant sensors ensure a better contact, but at the price of mechanically filtering and altering the detected signal. Conversely, online adaptable filters can tune their characteristics, becoming softer or stiffer when needed. We propose a magneto-active elastomer filter which, when placed on top of the tactile unit, allows the sensor to change its stiffness on demand. We showcase the advantages provided by online stiffening adaptation in terms of information gained and data structure. Moreover, we illustrate how adaptive stiffening influences classification, using 9 standard machine learning algorithms, and how adaptive stiffening can increase the classification accuracy up to 34% with respect to static stiffness control. |
| spellingShingle | Costi, L Tagliabue, A Maiolino, P Clemens, F Iida, F Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title | Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title_full | Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title_fullStr | Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title_full_unstemmed | Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title_short | Magneto-active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| title_sort | magneto active elastomer filter for tactile sensing augmentation through online adaptive stiffening |
| work_keys_str_mv | AT costil magnetoactiveelastomerfilterfortactilesensingaugmentationthroughonlineadaptivestiffening AT tagliabuea magnetoactiveelastomerfilterfortactilesensingaugmentationthroughonlineadaptivestiffening AT maiolinop magnetoactiveelastomerfilterfortactilesensingaugmentationthroughonlineadaptivestiffening AT clemensf magnetoactiveelastomerfilterfortactilesensingaugmentationthroughonlineadaptivestiffening AT iidaf magnetoactiveelastomerfilterfortactilesensingaugmentationthroughonlineadaptivestiffening |