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: | Journal article |
| Language: | English |
| Published: |
Frontiers Media
2021
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| _version_ | 1797107973658509312 |
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| author | Hughes, J Scimeca, L Maiolino, P Iida, F |
| author_facet | Hughes, J Scimeca, L Maiolino, P Iida, F |
| author_sort | Hughes, J |
| collection | OXFORD |
| 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 | 2024-03-07T07:23:01Z |
| format | Journal article |
| id | oxford-uuid:8655ba2b-244f-4fc0-85e7-f56f683c8392 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T07:23:01Z |
| publishDate | 2021 |
| publisher | Frontiers Media |
| record_format | dspace |
| spelling | oxford-uuid:8655ba2b-244f-4fc0-85e7-f56f683c83922022-10-27T17:06:09ZOnline morphological adaptation for tactile sensing augmentation Journal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:8655ba2b-244f-4fc0-85e7-f56f683c8392EnglishSymplectic ElementsFrontiers Media2021Hughes, JScimeca, LMaiolino, PIida, FSensor 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%. |
| spellingShingle | Hughes, J Scimeca, L Maiolino, P Iida, F Online morphological adaptation for tactile sensing augmentation |
| 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
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| title_sort | online morphological adaptation for tactile sensing augmentation |
| work_keys_str_mv | AT hughesj onlinemorphologicaladaptationfortactilesensingaugmentation AT scimecal onlinemorphologicaladaptationfortactilesensingaugmentation AT maiolinop onlinemorphologicaladaptationfortactilesensingaugmentation AT iidaf onlinemorphologicaladaptationfortactilesensingaugmentation |