Abstract
Biomimetic tactile sensors often need a large amount of training to distinguish between a large number of different classes of stimuli. But when stimuli vary in one continuous property such as sharpness, it is possible to reduce training by using a discrimination approach rather than a classification approach. By presenting a biomimetic tactile sensing device, the TacTip, with a single exemplar of edge sharpness, the sensor was able to discriminate between unseen stimuli by comparing them to the trained exemplar. This technique reduces training time and may lead to more biologically relevant models of perceptual learning and discrimination.
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
References
Grant, R.A., Itskov, P.M., Towal, R.B., Prescott, T.J.: Active touch sensing: finger tips, whiskers, and antennae. Front. Behav. Neurosci. 8, 50 (2014)
Chorley, C., Melhuish, C., Pipe, T., Rossiter, J.: Development of a tactile sensor based on biologically inspired edge encoding. Design (2008)
Lepora, N.F., Ward-Cherrier, B.: Tactile quality control with biomimetic active touch. IEEE Robot. Autom. Lett. 1(2), 646–652 (2016)
Lepora, N.F., Ward-Cherrier, B.: Superresolution with an optical tactile sensor. In: IEEE/RSJ on Intelligent Robots and Systems (IROS), pp. 2686–2691 (2015)
Winstone, B., Griffiths, G., Pipe, T., Melhuish, C., Rossiter, J.: TACTIP - tactile fingertip device, texture analysis through optical tracking of skin features. In: Lepora, N.F., Mura, A., Krapp, H.G., Verschure, P.F.M.J., Prescott, T.J. (eds.) Living Machines 2013. LNCS, vol. 8064, pp. 323–334. Springer, Heidelberg (2013)
Lepora, N.F., Fox, C., Evans, M., Diamond, M., Gurney, K., Prescott, T.: Optimal decision-making in mammals: Insights from a robot study of rodent texture discrimination. Roy. Soc. Interface 9(72), 1517–1528 (2012)
Skinner, A.L., Kent, C., Rossiter, J.M., Benton, C.P., Groen, M.G.M., Noyes, J.M.: On the edge: haptic discrimination of edge sharpness. PLoS One 8, e73283 (2013)
Fechner, G.: Elements of Psychophysics. Rinehart and Winston, New York (1966)
Acknowledgements
We thank Benjamin Ward-Cherrier and Luke Cramphorn for their help setting up the TacTip and stimuli. This work was supported by a Wellcome Trust PhD studentship.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Roscow, E., Kent, C., Leonards, U., Lepora, N.F. (2016). Discrimination-Based Perception for Robot Touch. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_53
Download citation
DOI: https://doi.org/10.1007/978-3-319-42417-0_53
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-42416-3
Online ISBN: 978-3-319-42417-0
eBook Packages: Computer ScienceComputer Science (R0)