Abstract:
Few years old children lift and manipulate unfamiliar objects more dexterously than today's robots. Therefore, it has arisen an interest at the artificial intelligence community to look for inspiration on neurophysiological studies to design better models for the robots. The estimation of the friction coefficient of the object's material is a crucial information in a human dexterous manipulation. Humans estimate the friction coefficient based on the responses of their tactile mechanoreceptors. In this paper, we propose a method to estimate the friction coefficient using artificial neural networks that receive as input simulated human afferent responses. This method is strongly inspired on neurophysiological studies of the afferent responses during the human dexterous manipulation of objects. Finite element analysis was used to model a finger and an object, and simulated experiments using the proposed method were done. To the best of our knowledge, this is the first time that simulated human afferent signals are combined with finite element analysis and artificial neural networks, to estimate the friction coefficient. © 2008 IEEE.
Registro:
| Documento: |
Conferencia
|
| Título: | A bio-inspired method for friction estimation |
| Autor: | Herrera, R.M. |
| Ciudad: | Aguascalientes |
| Filiación: | Department of Computer Science, Facultad de Ciencias Exactas Y Naturales, Universidad de Buenos Aires, Argentina
|
| Palabras clave: | Dexterous manipulation; Neural networks; Robotics; Artificial intelligence; Backpropagation; Bionics; Finite element method; Friction; Machine design; Robotics; Robots; Tribology; Artificial neural networks; Bio-inspired; Dexterous manipulation; Finite element analysis; Friction coefficients; Friction estimations; Mechanoreceptors; Simulated experiments; Neural networks |
| Año: | 2008
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| Página de inicio: | 385
|
| Página de fin: | 395
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| DOI: |
http://dx.doi.org/10.1109/MICAI.2007.39 |
| Título revista: | 2007 6th Mexican International Conference on Artificial Intelligence, Special Session, MICAI 2007
|
| Título revista abreviado: | Proc. - Mex. Int. Conf. Artif. Intell., Spec. Sess., MICAI
|
| Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97807695_v_n_p385_Herrera |
Referencias:
- Dandekar, K., Raju, B., Srinivasan, M.A., 3-d finite-element models of human and monkey fingertips to investigate the mechanics of tactile sense (2003) Transactions of the ASME, 125, pp. 682-691
- Israelsson, A., (2002) Simulation of responses in afferents from the glabrous skin during human manipulation, , Master's thesis, Master thesis in Cognitive Science, Umeå University, Umeå, Sweden
- Johansson, R., Tactile sensibility in the human hand: Receptive field characteristics of mechanoreceptive units in the glabrous skin area (1978) Journal of Physiology, 281, pp. 101-123
- Johansson, R., Sensory and memory information in the control of dexterous manipulation (1996) Neural Bases of Motor Behaviour, pp. 205-260. , Kluwer Academic Publishers
- Johansson, R., Westling, G., Signals in tactile afferents from the fingers eliciting adaptive motor responses during precision grip (1987) Exp Brain Res, 66, pp. 141-154
- Johnson, K., The roles and functions of cutaneous mechanoreceptors (2001) Curr Opin Neurobiol, 11, pp. 455-461
- Maeno, T., Kawamura, T., Cheng, S., Friction estimation by pressing an elastic finger-shaped sensor against a surface (2004) IEEE Transactions on Robotics and Automation, 20 (2), pp. 222-228
- North, J.F., Gibson, F., Volume compressibility of human abdominal skin (1978) J. Biomech, 11, pp. 203-207
- Srinivasan, M.A., Gulati, R.J., Dandekar, K., In vivo compressibility of the human fingertip (1992) Adv. Bioeng, 22, pp. 573-576
- Westling, G., Johansson, R., Responses in glabrous skin mechanoreceptors during precision grip in humans (1987) Exp Brain Res, 66, pp. 128-140
Citas:
---------- APA ----------
(2008)
. A bio-inspired method for friction estimation. 2007 6th Mexican International Conference on Artificial Intelligence, Special Session, MICAI 2007, 385-395.
http://dx.doi.org/10.1109/MICAI.2007.39---------- CHICAGO ----------
Herrera, R.M.
"A bio-inspired method for friction estimation"
. 2007 6th Mexican International Conference on Artificial Intelligence, Special Session, MICAI 2007
(2008) : 385-395.
http://dx.doi.org/10.1109/MICAI.2007.39---------- MLA ----------
Herrera, R.M.
"A bio-inspired method for friction estimation"
. 2007 6th Mexican International Conference on Artificial Intelligence, Special Session, MICAI 2007, 2008, pp. 385-395.
http://dx.doi.org/10.1109/MICAI.2007.39---------- VANCOUVER ----------
Herrera, R.M. A bio-inspired method for friction estimation. Proc. - Mex. Int. Conf. Artif. Intell., Spec. Sess., MICAI. 2008:385-395.
http://dx.doi.org/10.1109/MICAI.2007.39