Lepora, N.F., Martinez-Hernandez, U., Evans, M. et al. (3 more authors) (2015) Tactile Superresolution and Biomimetic Hyperacuity. IEEE Transactions on Robotics, 31 (3). 605 - 618. ISSN 1552-3098
Abstract
Motivated by the impact of superresolution methods for imaging, we undertake a detailed and systematic analysis of localization acuity for a biomimetic fingertip and a flat region of tactile skin. We identify three key factors underlying superresolution that enable the perceptual acuity to surpass the sensor resolution: 1) the sensor is constructed with multiple overlapping, broad but sensitive receptive fields; 2) the tactile perception method interpolates between receptors (taxels) to attain subtaxel acuity; and 3) active perception ensures robustness to unknown initial contact location. All factors follow from active Bayesian perception applied to biomimetic tactile sensors with an elastomeric covering that spreads the contact over multiple taxels. In consequence, we attain extreme superresolution with a 35-fold improvement of localization acuity (0.12 mm) over sensor resolution (4 mm). We envisage that these principles will enable cheap high-acuity tactile sensors that are highly customizable to suit their robotic use. Practical applications encompass any scenario where an end-effector must be placed accurately via the sense of touch.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
Keywords: | Biomimetics; force and tactile sensing |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Dec 2015 13:08 |
Last Modified: | 20 Mar 2018 21:47 |
Published Version: | http://dx.doi.org/10.1109/TRO.2015.2414135 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/TRO.2015.2414135 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:92437 |