Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

An approach to integrated tactile perception

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Taddeucci, D. ; ARTS Lab., Scuola Superiore Sant Anna, Pisa, Italy ; Laschi, C. ; Lazzarini, R. ; Magni, R.
more authors

This paper presents an integrated approach to tactile perception, both in terms of data acquisition and data interpretation. In humans, touch sensing is implemented through a number of different sensing elements embedded in the skin. The interpretation of perceived data to the level of detection of basic features, such as material, shape of surface, shape of contact, is achieved by integrating the different sensorial inputs at a low level, with no involvement of high level cognitive processes. The approach we propose in this paper follows this anthropomorphic model of tactile perception, by including, on one hand, a miniature fingertip integrating different sensors and, on the other hand, a parallel data interpretation module implemented through a fuzzy neural-network which processes all the different inputs at the same level. The paper describes the characteristics of the integrated fingertip sensor and of the neuro-fuzzy system, and discusses experimental results achieved during exploratory tasks on a set of common objects are discussed in detail

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997