Leveraging Compliant Tactile Perception for Haptic Blind Surface Reconstruction

被引:0
|
作者
Cheret, Laurent Y. E. Ramos [1 ]
da Fonseca, Vinicius Prado [2 ]
de Oliveira, Thiago E. Alves [1 ]
机构
[1] Lakehead Univ, Dept Comp Sci, Orillia, ON, Canada
[2] Mem Univ Newfoundland, Dept Comp Sci, St John, NL, Canada
来源
2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2024) | 2024年
基金
加拿大自然科学与工程研究理事会;
关键词
Contact Modeling; Soft Sensors and Actuators; Haptics and Haptic Interfaces; RECOGNITION;
D O I
10.1109/ICRA57147.2024.10610162
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as transparency, reflections, and occlusions. This study achieves blind surface reconstruction by harnessing the robotic manipulator's kinematic data and a compliant tactile sensing module, which incorporates inertial, magnetic, and pressure sensors. The module's flexibility enables us to estimate contact positions and surface normals by analyzing its deformation during interactions with unknown objects. While previous works collect only positional information, we include the local normals in a geometrical approach to estimate curvatures between adjacent contact points. These parameters then guide a spline-based patch generation, which allows us to recreate larger surfaces without an increase in complexity while reducing the time-consuming step of probing the surface. Experimental validation demonstrates that this approach outperforms an off-the-shelf vision system in estimation accuracy. Moreover, this compliant haptic method works effectively even when the manipulator's approach angle is not aligned with the surface normals, which is ideal for unknown non-flat surfaces.
引用
收藏
页码:17139 / 17145
页数:7
相关论文
共 50 条
  • [31] Search Efficiency for Tactile Features Rendered by Surface Haptic Displays
    Ware, John
    Cha, Elizabeth
    Peshkin, Michael A.
    Colgate, J. Edward
    Klatzky, Roberta L.
    IEEE TRANSACTIONS ON HAPTICS, 2014, 7 (04) : 545 - 550
  • [32] Roughness perception in haptic virtual reality for sighted and blind people
    Kornbrot, Dlana
    Penn, Paul
    Petrie, Helen
    Furner, Stephen
    Hardwick, Andrew
    PERCEPTION & PSYCHOPHYSICS, 2007, 69 (04): : 502 - 512
  • [33] Contact Surface Estimation via Haptic Perception
    Lin, Hsiu-Chin
    Mistry, Michael
    2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 5087 - 5093
  • [34] Flexible Plasmonic Optical Tactile Sensor for Health Monitoring and Artificial Haptic Perception
    Guo, Jingjing
    Shang, Ce
    Gao, Shuo
    Zhang, Yongbiao
    Fu, Bo
    Xu, Lijun
    ADVANCED MATERIALS TECHNOLOGIES, 2023, 8 (07)
  • [35] Substitute Buttons: Exploring Tactile Perception of Physical Buttons for Use as Haptic Proxies
    van Deurzen, Bram
    Ruiz, Gustavo Alberto Rovelo
    Bot, Daniel M.
    Vanacken, Davy
    Luyten, Kris
    MULTIMODAL TECHNOLOGIES AND INTERACTION, 2024, 8 (03)
  • [36] Memory delay and haptic feedback influence the dissociation of tactile cues for perception and action
    Jazi, Shirin Davarpanah
    Hosang, Stephanie
    Heath, Matthew
    NEUROPSYCHOLOGIA, 2015, 71 : 91 - 100
  • [37] The role of multisensory feedback in haptic surface perception
    Poling, GL
    Weisenberger, JM
    Kerwin, T
    11TH SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS - HAPTICS 2003, PROCEEDINGS, 2003, : 187 - 194
  • [38] Tactile samples with variable surface textures to investigate tactile perception characteristic
    Kawazoe, Makoto
    Miki, Norihisa
    JOURNAL OF MICROMECHANICS AND MICROENGINEERING, 2020, 30 (10)
  • [39] Tactile perception of line and dotted pictograms by sighted and blind people
    Mascle, Carolane
    Jouffrais, Christophe
    Kaminski, Gwenael
    Bara, Florence
    ANNEE PSYCHOLOGIQUE, 2023, 123 (04): : 587 - 612
  • [40] TACTILE-KINAESTHETIC PERCEPTION OF STRAIGHTNESS IN BLIND AND SIGHTED HUMANS
    Hunter, Ian M. L.
    QUARTERLY JOURNAL OF EXPERIMENTAL PSYCHOLOGY, 1954, 6 : 149 - 154