Bologna, L L and Pinoteau, J and Passot, J-B and Garrido, J A and Vogel, Jörn and Ros Vidal, E and Arleo, A (2013) A closed-loop neurobotic system for fine touch sensing. Journal of Neural Engineering, 10 (4). Institute of Physics (IOP) Publishing. doi: 10.1088/1741-2560/10/4/046019. ISSN 1741-2560.
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Official URL: http://iopscience.iop.org/1741-2552/10/4/046019
Abstract
Objective. Fine touch sensing relies on peripheral-to-central neurotransmission of somesthetic percepts, as well as on active motion policies shaping tactile exploration. This paper presents a novel neuroengineering framework for robotic applications based on the multistage processing of fine tactile information in the closed action–perception loop. Approach. The integrated system modules focus on (i) neural coding principles of spatiotemporal spiking patterns at the periphery of the somatosensory pathway, (ii) probabilistic decoding mechanisms mediating cortical-like tactile recognition and (iii) decision-making and low-level motor adaptation underlying active touch sensing. We probed the resulting neural architecture through a Braille reading task. Main results. Our results on the peripheral encoding of primary contact features are consistent with experimental data on human slow-adapting type I mechanoreceptors. They also suggest second-order processing by cuneate neurons may resolve perceptual ambiguities, contributing to a fast and highly performing online discrimination of Braille inputs by a downstream probabilistic decoder. The implemented multilevel adaptive control provides robustness to motion inaccuracy, while making the number of finger accelerations covariate with Braille character complexity. The resulting modulation of fingertip kinematics is coherent with that observed in human Braille readers. Significance. This work provides a basis for the design and implementation of modular neuromimetic systems for fine touch discrimination in robotics.
Item URL in elib: | https://elib.dlr.de/87246/ | ||||||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||||||
Title: | A closed-loop neurobotic system for fine touch sensing | ||||||||||||||||||||||||
Authors: |
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Date: | August 2013 | ||||||||||||||||||||||||
Journal or Publication Title: | Journal of Neural Engineering | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
Volume: | 10 | ||||||||||||||||||||||||
DOI : | 10.1088/1741-2560/10/4/046019 | ||||||||||||||||||||||||
Publisher: | Institute of Physics (IOP) Publishing | ||||||||||||||||||||||||
ISSN: | 1741-2560 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Computational physics Instrumentation and measurement Medical physics Biological physics | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||||||||||||||||||||
Deposited By: | Vogel, Jörn | ||||||||||||||||||||||||
Deposited On: | 08 Jan 2014 10:06 | ||||||||||||||||||||||||
Last Modified: | 08 Mar 2018 18:33 |
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