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DESIGN
AND
USE
OF
A
BIOMIMETIC
TACTILE
MICROVIBRATION
SENSOR
WITH
HUMAN-‐LIKE
SENSITIVITY
AND
ITS
APPLICATION
IN
TEXTURE
DISCRIMINATION
USING
BAYESIAN
EXPLORATION
by
Jeremy
A.
Fishel
A
Dissertation
Presented
to
the
FACULTY
OF
THE
USC
GRADUATE
SCHOOL
UNIVERSITY
OF
SOUTHERN
CALIFORNIA
In
Partial
Fulfillment
of
the
Requirements
for
the
Degree
DOCTOR
OF
PHILOSOPHY
(BIOMEDICAL
ENGINEERING)
August
2012
Copyright
2012
Jeremy
A.
Fishel
Object Description
| Title | Design and use of a biomimetic tactile microvibration sensor with human-like sensitivity and its application in texture discrimination using Bayesian exploration |
| Author | Fishel, Jeremy A. |
| Author email | jeremyfishel@gmail.com;jeremyfishel@gmail.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Biomedical Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2012-06-04 |
| Date submitted | 2012-06-19 |
| Date approved | 2012-06-20 |
| Restricted until | 2012-06-20 |
| Date published | 2012-06-20 |
| Advisor (committee chair) | Valero-Cuevas, Francisco |
| Advisor (committee member) |
Loeb, Gerald Schaal, Stefan Yen, Jesse |
| Abstract | The cutaneous sensing of microvibrations in human fingertips plays a central role in the detection of slip-related and dynamic information critical for tool usage, reflexive grip control, and the perception of microtextures. This is made possible by the Pacinian corpuscle, a small sensory receptor in subcutaneous tissues that is capable of detecting vibrations up to 1000Hz in frequency. These receptors are sensitive to vibrations less than a micrometer in amplitude at frequencies around their maximal sensitivity of 250Hz. Artificial systems seeking to provide human-like dexterity and perception would benefit from similar sensory capabilities. ❧ In this dissertation, a novel tactile sensor capable of robustly sensing vibrations with a bandwidth and sensitivity that exceeds human performance is presented. The device, known as the BioTac, has a biomimetic structure that consists of a rigid bone-like core covered with an elastomeric skin. The space between the skin and core is filled with an incompressible low-viscosity liquid that is in contact with a pressure transducer. Vibrations that originate on the surface of the skin are transmitted as sound waves through the liquid and are readily sensed by the transducer. The incompressible liquid conducts these acoustic signals with little attenuation, permitting the transducer to be located in a protected region inside the core of the device, where it is less likely to get damaged. The addition of a biologically inspired fingerprint-like pattern on the surface of the skin was found to enhance vibrations sensed by the BioTac. The BioTac exceeded human capabilities in sensitivity thresholds to applied sinusoidal vibrations and impacts from small spheres. ❧ Biologically inspired strategies to use this tactile information for a texture discrimination task were developed. A specialized robot was built to make sliding movements similar to those humans make when exploring textures. The BioTac was slid over a total of 117 different textured surfaces collected from art supply, fabric and hardware stores. Signal processing methods were developed to extract properties modeled after the descriptive language that humans use when describing textures (rough/smooth, sticky/slippery, coarse/fine). Different sliding exploratory movements (defined by a combination of contact force and sliding velocity) were found to be optimal for discriminating each of these properties. All 117 textures were tested repeatedly with these three exploratory movements to collect a database of prior experience similar to human memory. A novel process of intelligently selecting exploratory movements was developed to guide the discrimination task when presented with an unknown texture. When exploring a texture, the Bayesian exploration algorithm selects the optimal movement to make and the property to measure based on previous experience to disambiguate the most-probable candidates. The combination of biomimetic hardware and software achieved performance that matched (and even surpassed) human capabilities in discriminating and identifying textures. |
| Keyword | tactile sensing; tactile sensor; biomimetic; BioTac; microvibration; vibration; touch; Pacinian corpuscle; fluid-filled sensor; Bayesian exploration; texture discrimination; human performance; impact; robot; artificial texture discrimination; object identification; Bayesian inference; machine learning; classification |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m |
| Rights | Fishel, Jeremy A. |
| Access conditions | The author retains rights to his/her dissertation, thesis or other graduate work according to U.S. copyright law. Electronic access is being provided by the USC Libraries in agreement with the author, as the original true and official version of the work, but does not grant the reader permission to use the work if the desired use is covered by copyright. It is the author, as rights holder, who must provide use permission if such use is covered by copyright. The original signature page accompanying the original submission of the work to the USC Libraries is retained by the USC Libraries and a copy of it may be obtained by authorized requesters contacting the repository e-mail address given. |
| Repository name | University of Southern California Digital Library |
| Repository address | USC Digital Library, University of Southern California, University Park Campus MC 7002, 106 University Village, Los Angeles, California 90089-7002, USA |
| Repository email | cisadmin@usc.edu |
| Archival file | uscthesesreloadpub_Volume4/etd-FishelJere-894.pdf |
Description
| Title | Page 1 |
| Full text | DESIGN AND USE OF A BIOMIMETIC TACTILE MICROVIBRATION SENSOR WITH HUMAN-‐LIKE SENSITIVITY AND ITS APPLICATION IN TEXTURE DISCRIMINATION USING BAYESIAN EXPLORATION by Jeremy A. Fishel A Dissertation Presented to the FACULTY OF THE USC GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (BIOMEDICAL ENGINEERING) August 2012 Copyright 2012 Jeremy A. Fishel |
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