Abstract
This paper describes a system for haptic object categorization. It consists of a robotic hand, the LUCS Haptic Hand I, together with software modules that to some extent simulate the functioning of the primary and the secondary somatosensory cortices. The haptic system is the first one in a project at LUCS aiming at studying haptic perception. In the project, several robotic hands together with cognitive computational models of the corresponding human neurophysiological systems will be built. The haptic system was trained and tested with a set of objects consisting of balls and cubes, and the activation in the modules corresponding to secondary somatosensory cortex was studied. The results suggest that the haptic system is capable of categorization of objects according to size, if the shapes of the objects are restricted to spheres and cubes.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Balkenius, C.: Ikaros (2004) (2004-11-24), http://www.lucs.lu.se/IKAROS/
Balkenius, C., Morén, J.: From isolated components to cognitive systems. ERCIM News, p. 16 (April 2003)
Dario, P., Guglielmelli, E., Laschi, C.: Humanoids and personal robots: design and experiments. Journal of robotic systems 18(12), 673–690 (2001)
Dario, P., Laschi, C., Carrozza, M.C., Guglielmelli, E., Teti, G., Massa, B., Zecca, M., Taddeucci, D., Leoni, F.: An integrated approach for the design and development of a grasping and manipulation system in humanoid robotics. In: Proceedings of the 2000 IEEE/RSJ international conference on intelligent robots and systems, vol. 1, pp. 1–7 (2000)
Dario, P., Laschi, C., Menciassi, A., Guglielmelli, E., Carrozza, M.C., Micera, S.: Interfacing neural and artificial systems: from neuroengineering to neurorobotics. In: Proceedings or the 1st international IEEE EMBS conference on neural engineering, pp. 418–421 (2003)
DeLaurentis, K.J., Mavroidis, C.: Development of a shape memory alloy actuated robotic hand (2000) (2004-10-28), http://citeseer.ist.psu.edu/383951.html
Gardner, E.P., Kandel, E.R.: Touch. In: Kandel, E.R., Schwartz, J.H., Jessell, T.M. (eds.) Principles of neural science, pp. 451–471. McGraw-Hill, New York (2000)
Gardner, E.P., Martin, J.H., Jessell, T.M.: The bodily senses. In: Kandel, E.R., Schwartz, J.H., Jessell, T.M. (eds.) Principles of neural science, pp. 430–450. McGraw-Hill, New York (2000)
Gentaz, E.: General characteristics of the anatomical and functional organization of cutaneous and haptic perceptions. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 17–31. John Benjamins Publishing Company, Amsterdam (2003)
Gentaz, E., Hatwell, Y.: Haptic processing of spatial and material object properties. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 123–159. John Benjamins Publishing Company, Amsterdam (2003)
Hatwell, Y.: Manual exploratory procedures in children and adults. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 67–82. John Benjamins Publishing Company, Amsterdam (2003)
Johnsson, M.: Cortical Plasticity – A Model of Somatosensory Cortex (2004), http://www.lucs.lu.se/People/Magnus.Johnsson
Johnsson, M.: (2005), http://www.lucs.lu.se/People/Magnus.Johnsson/HapticPerception.html
Johnsson, M., Pallbo, R., Balkenius, C.: Experiments with haptic perception in a robotic hand (2005), http://www.lucs.lu.se/People/Magnus.Johnsson/
Klatzky, R., Lederman, S.: The haptic identification of everyday objects. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 105–121. John Benjamins Publishing Company, Amsterdam (2003)
Kohonen, T.: The self-organizing map. Proceedings of the IEEE 78(9), 1464–1480 (1990)
Kohonen, T.: Self-organizing maps. Springer, Berlin (2001)
Laschi, C., Gorce, P., Coronado, J., Leoni, F., Teti, G., Rezzoug, N., Guerrero-Gonzalez, A., Molina, J.L.P., Zollo, L., Guglielmelli, E., Dario, P., Burnod, Y.: An anthropomorphic robotic platform for ex-perimental validation of biologically-inspired sensorymotor co-ordination in grasping. In: Proceedings of the 2002 IEEE/RSJ international conference on intelligent robots and systems, pp. 2545–2550 (2002)
Rhee, C., Chung, W., Kim, M., Shim, Y., Lee, H.: Door opening control using the multi-fingered robotic hand for the indoor service robot. In: Proceedings of the 2004 IEEE international conference on robotics & automation, vol. 4, pp. 4011–4016 (2004)
Streri, A.: Manual exploration and haptic perception in infants. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 51–66. John Benjamins Publishing Company, Amsterdam (2003)
Sugiuchi, H., Hasegawa, Y., Watanabe, S., Nomoto, M.: A control system for multi-fingered robotic hand with distributed touch sensor, Industrial electronics society. In: IECON 2000. 26th annual conference of the IEEE, vol. 1, pp. 434–439 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Johnsson, M., Pallbo, R., Balkenius, C. (2005). A Haptic System for the Lucs Haptic Hand I. In: Mira, J., Álvarez, J.R. (eds) Mechanisms, Symbols, and Models Underlying Cognition. IWINAC 2005. Lecture Notes in Computer Science, vol 3561. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11499220_40
Download citation
DOI: https://doi.org/10.1007/11499220_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26298-5
Online ISBN: 978-3-540-31672-5
eBook Packages: Computer ScienceComputer Science (R0)