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A closed-loop neurobotic system for fine touch sensing

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


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/
Document Type:Article
Title:A closed-loop neurobotic system for fine touch sensing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bologna, L LUniversity Pierre and Marie Curie ParisUNSPECIFIED
Pinoteau, JUniversity Pierre and Marie Curie ParisUNSPECIFIED
Passot, J-BUniversity Pierre and Marie Curie ParisUNSPECIFIED
Garrido, J AUniversity of PaviaUNSPECIFIED
Vogel, Jörnjoern.vogel (at) dlr.deUNSPECIFIED
Ros Vidal, EUniversity of GranadaUNSPECIFIED
Arleo, AUniversity Pierre and Marie Curie ParisUNSPECIFIED
Date:August 2013
Journal or Publication Title:Journal of Neural Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1088/1741-2560/10/4/046019
Publisher:Institute of Physics (IOP) Publishing
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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