NDLI: Investigation of a biomimetic fingertip's ability to discriminate fabrics based on surface textures

Content Provider	IEEE Xplore Digital Library
Author	Chathuranga, D.S. Van Anh Ho Hirai, S.
Copyright Year	2013
Description	Author affiliation: Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan (Chathuranga, D.S.; Van Anh Ho; Hirai, S.)
Abstract	Tactile sensing is an important ability for a humanoid robot which interacts in an unstructured environment. Such a system needs to sense and evaluate surface properties of objects that it interacts with. Among those properties, surface texture identification is a compulsory ability for certain kind of robot systems such as service robots, medical robots and exploratory robots. Therefore, the tactile system of above type of robots should have the ability to identify and discriminate textures with acceptable accuracy. A biomimetic fingertip that can be used in above kinds of robot tactile systems is introduced. The fingertip has the ability to detect force and vibration modalities. This paper reports the ability of the fingertip system to discriminate multiple materials (six fabrics and aluminium plate) by comparing the differences in their surface texture. The materials were classified using features: variance and power of the accelerometer signal. Moreover an Artificial Neural Network (ANN) classifier was evaluated by using the first 300 Fourier coefficients of the accelerometer signal as features. Above two methods used the raw signals of the accelerometers nearest to the contact area. Finally, an input signal was computed by calculating the covariance of two adjacent accelerometers. This new signal was used to calculate features for the ANN classifier. The results showed that the use of a convoluted signal improved the success rate of discriminating the seven textures.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1667
Ending Page	1674
File Size	3504436
Page Count	8
File Format	PDF
ISBN	9781467353199
ISSN	21596247
e-ISBN	9781467353205
DOI	10.1109/AIM.2013.6584336
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-09
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Accelerometers Robot sensing systems Force sensors Skin Fabrics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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