Publications

BibTex format

@article{Sornkarn:2016:10.1371/journal.pone.0156982,
author = {Sornkarn, N and Dasgupta, P and Nanayakkara, T},
doi = {10.1371/journal.pone.0156982},
journal = {PLOS One},
title = {Morphological computation of haptic perception of a controllable stiffness probe},
url = {http://dx.doi.org/10.1371/journal.pone.0156982},
volume = {11},
year = {2016}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - When people are asked to palpate a novel soft object to discern its physical properties such as texture, elasticity, and even non-homogeneity, they not only regulate probing behaviors, but also the co-contraction level of antagonistic muscles to control the mechanical impedance of fingers. It is suspected that such behavior tries to enhance haptic perception by regulating the function of mechanoreceptors at different depths of the fingertips and proprioceptive sensors such as tendon and spindle sensors located in muscles. In this paper, we designed and fabricated a novel two-degree of freedom variable stiffness indentation probe to investigate whether the regulation of internal stiffness, indentation, and probe sweeping velocity (PSV) variables affect the accuracy of the depth estimation of stiff inclusions in an artificial silicon phantom using information gain metrics. Our experimental results provide new insights into not only the biological phenomena of haptic perception but also new opportunities to design and control soft robotic probes.
AU  - Sornkarn,N
AU  - Dasgupta,P
AU  - Nanayakkara,T
DO  - 10.1371/journal.pone.0156982
PY  - 2016///
SN  - 1932-6203
TI  - Morphological computation of haptic perception of a controllable stiffness probe
T2  - PLOS One
UR  - http://dx.doi.org/10.1371/journal.pone.0156982
UR  - http://www.ncbi.nlm.nih.gov/pubmed/27257814
UR  - http://hdl.handle.net/10044/1/45730
VL  - 11
ER  -

Download

Professor Thrishantha Nanayakkara

Contact

Location

Summary

Citation

BibTex format

RIS format (EndNote, RefMan)