Perception of simple stimuli using sparse data from a tactile whisker array

We introduce a new multi-element sensory array built from tactile whiskers and modelled on the mammalian whisker sensory system. The new array adds, over previous designs, an actuated degree of freedom corresponding approximately to the mobility of the mystacial pad of the animal. We also report on its performance in a preliminary test of simultaneous identification and localisation of simple stimuli (spheres and a plane). The sensory processing system uses prior knowledge of the set of possible stimuli to generate percepts of the form and location of extensive stimuli from sparse and highly localised sensory data. Our results suggest that the additional degree of freedom has the potential to offer a benefit to perception accuracy for this type of sensor. © 2013 Springer-Verlag Berlin Heidelberg.