FPGA implementation of a FA-1 mechanoreceptor model for efficient representation of tactile features

Wang Wei Lee, Chen Hua Yeow, Hongliang Ren, Sunil L. Kukreja, Nitish V Thakor

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

Abstract

Spatiotemporal spike patterns from a population of mechanoreceptors provide a concise representation of tactile stimuli that facilitates rapid sensory processing in the brain. Efficient models of mechanoreceptors are needed for the adoption of spike-based processing for robotic tactile sensing applications. This paper presents a biomimetic model of the fast-Adapting type 1 (FA-1) mechanoreceptor, implemented on a field-programmable-gate-Array (FPGA). The simplicity of this model enables its realization on large arrays of sensing elements while operating with sub-millisecond temporal precision required to capture deformation patterns. We illustrate this capability by interfacing with a 4096 element tactile sensor array with a 5.2 kHz sampling rate. Through physical experiments, we demonstrate the discrimination of force magnitude and local curvature during transient mechanical contact, using spike patterns obtained from the model. The approach has the potential to deliver responsive full-body tactile sensing in robotic and prosthetic applications.

Original languageEnglish (US)
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages243-246
Number of pages4
Volume2016-July
ISBN (Electronic)9781509032877
DOIs
StatePublished - Jul 26 2016
Externally publishedYes
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: Jun 26 2016Jun 29 2016

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period6/26/166/29/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • Cite this

    Lee, W. W., Yeow, C. H., Ren, H., Kukreja, S. L., & Thakor, N. V. (2016). FPGA implementation of a FA-1 mechanoreceptor model for efficient representation of tactile features. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (Vol. 2016-July, pp. 243-246). [7523631] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523631