A Novel Bioinspired Neuromorphic Vision-based Tactile Sensor for Fast Tactile Perception
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866916160299073536 |
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| author | Faris, Omar Awad, Mohammad I. Awad, Murana A. Zweiri, Yahya Khalaf, Kinda |
| author_facet | Faris, Omar Awad, Mohammad I. Awad, Murana A. Zweiri, Yahya Khalaf, Kinda |
| contents | Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to quickly capture and convey information about the interactions between robotic manipulators and their environment. The camera in the sensor observes the deformation of a flexible skin manufactured from a cheap and accessible 3D printed material, whereas a 3D printed rigid casing houses the components of the sensor together. The sensor is tested in a grasping stage classification task involving several objects using a data-driven learning-based approach. The results show that the proposed approach enables the sensor to detect pressing and slip incidents within a speed of 2 ms. The fast tactile perception properties of the proposed sensor makes it an ideal candidate for safe grasping of different objects in industries that involve high-speed pick-and-place operations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_10120 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Novel Bioinspired Neuromorphic Vision-based Tactile Sensor for Fast Tactile Perception Faris, Omar Awad, Mohammad I. Awad, Murana A. Zweiri, Yahya Khalaf, Kinda Robotics Systems and Control Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to quickly capture and convey information about the interactions between robotic manipulators and their environment. The camera in the sensor observes the deformation of a flexible skin manufactured from a cheap and accessible 3D printed material, whereas a 3D printed rigid casing houses the components of the sensor together. The sensor is tested in a grasping stage classification task involving several objects using a data-driven learning-based approach. The results show that the proposed approach enables the sensor to detect pressing and slip incidents within a speed of 2 ms. The fast tactile perception properties of the proposed sensor makes it an ideal candidate for safe grasping of different objects in industries that involve high-speed pick-and-place operations. |
| title | A Novel Bioinspired Neuromorphic Vision-based Tactile Sensor for Fast Tactile Perception |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.10120 |