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Online Morphological Adaptation for Tactile Sensing Augmentation.

Published version
Peer-reviewed

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Authors

Hughes, Josie 
Scimeca, Luca 
Maiolino, Perla 

Abstract

Sensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sensors, and also how to enable sensor morphology to be varied. We introduce a jamming filter which, when placed over a tactile sensor, allows the filter to be shaped and molded online, thus varying the sensor structure. We demonstrate how this is beneficial for sensory tasks analyzing how the change in sensor structure varies the information that is gained using the sensor. Moreover, we show that appropriate morphology can significantly influence discrimination, and observe how the selection of an appropriate filter can increase the object classification accuracy when using standard classifiers by up to 28%.

Description

Keywords

morphological computation, object classification, perception, sensor morphology, tactile sensors

Journal Title

Front Robot AI

Conference Name

Journal ISSN

2296-9144
2296-9144

Volume Title

8

Publisher

Frontiers Media SA
Sponsorship
European Commission Horizon 2020 (H2020) Future and Emerging Technologies (FET) (828818)
EPSRC (EP/T00519X/1)