A Neuromorphic Approach to Tactile Texture Recognition

Anupam K. Gupta, Rohan Ghosh, Aravindh N. Swaminathan, Balakrishna Deverakonda, Godwin Ponraj, Alcimar B. Soares, Nitish V Thakor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the recent years, tactile sensing has attracted great interest of the robotics community, specially in high end applications such as prosthesis and exploration of unstructured environments. Tactile sensing in both humans and robots can help to estimate surface properties like temperature, texture and hardness. These properties are important to perceive the environment as well as for object recognition and robotic manipulation of objects. In this paper, we focus on the classification of textures using a neuromorphic tactile sensor. The sensor uses a piezoresistive fabric sandwiched between conductive traces and encodes only changes in pressure intensity in the form of spike events. Textures are classified based on their geometry and the spatial frequencies. To do so, high-contrast tactile images are created by combining event data obtained across a palpation sequence and rotation-invariant features are used for classification using support vector machines (SVM). Our best results show average classification accuracy of 98% across different textures and palpation done in multiple directions.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1322-1328
Number of pages7
ISBN (Electronic)9781728103761
DOIs
StatePublished - Mar 11 2019
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: Dec 12 2018Dec 15 2018

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period12/12/1812/15/18

Fingerprint

Touch
Textures
Palpation
Robotics
Surface Properties
Sensors
Hardness
Object recognition
Prostheses and Implants
Surface properties
Support vector machines
Robots
Pressure
Temperature
Geometry

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Gupta, A. K., Ghosh, R., Swaminathan, A. N., Deverakonda, B., Ponraj, G., Soares, A. B., & Thakor, N. V. (2019). A Neuromorphic Approach to Tactile Texture Recognition. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 1322-1328). [8665085] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665085

A Neuromorphic Approach to Tactile Texture Recognition. / Gupta, Anupam K.; Ghosh, Rohan; Swaminathan, Aravindh N.; Deverakonda, Balakrishna; Ponraj, Godwin; Soares, Alcimar B.; Thakor, Nitish V.

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1322-1328 8665085 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gupta, AK, Ghosh, R, Swaminathan, AN, Deverakonda, B, Ponraj, G, Soares, AB & Thakor, NV 2019, A Neuromorphic Approach to Tactile Texture Recognition. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665085, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1322-1328, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665085
Gupta AK, Ghosh R, Swaminathan AN, Deverakonda B, Ponraj G, Soares AB et al. A Neuromorphic Approach to Tactile Texture Recognition. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1322-1328. 8665085. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). https://doi.org/10.1109/ROBIO.2018.8665085
Gupta, Anupam K. ; Ghosh, Rohan ; Swaminathan, Aravindh N. ; Deverakonda, Balakrishna ; Ponraj, Godwin ; Soares, Alcimar B. ; Thakor, Nitish V. / A Neuromorphic Approach to Tactile Texture Recognition. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1322-1328 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).
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