The Physiology and Psychophysics of Touch

Lederman, Susan J.; Browse, Roger A.

doi:10.1007/978-3-642-83410-3_4

Cited by 23 publications

(7 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first is based on imitating a supremely efficient model -the human hand. The indisputable ability of the hand to perform highly dextrous tasks has led some investigators to examine the characteristics of the human tactile system and by extension, tentatively establish sensory requirements for dextrous robotic hands (see, for example, [Lederman and Browse 1988]). The underlying assumption of this approach is that if critical functional elements of the hand can somehow be replicated the machine will exhibit human like dexterity.…”

Section: Tactile Sensorsmentioning

confidence: 99%

“…Meissner corpuscles, which correspond roughly to contact velocity detectors and are the most densely packed mechanoreceptor in the fingertip, have a center to center spacing of approximately 0.9 mm [Schmidt 1986, p. 44]. Other receptors are present in the skin, of course, and have complex interactions that give rise to the hand's spatial resolution [Lederman and Browse 1988]. Based solely on physiological considerations then, a spacing of 1.0 mm between sensing elements would approximate the sensory abilities of the human hand [Hollerbach 1984].…”

Section: Spatial Resolutionmentioning

confidence: 99%

See 1 more Smart Citation

Dextrous Robot Hands

Venkataraman

Iberall

1990

View full text Add to dashboard Cite

PrefaceDextrous manipulation has been a topic of interest in industrial assembly, prosthetic hand design, and in the study of human movement. In recent years, dextrous robot hands, developed in the United States, Europe, and Japan, have become available as research tools. While significant progress is being made in their design, construction, and low level control, the true potential of dextrous mechanical hands has yet to be realized. Roboticists are up against fundamental problems in developing algorithms for solving real-time computations in multi-sensory processing and motor control.One possible way to develop better dextrous robot hands is through the study of human hands. After decades of research into the control problem of human arm movement, motor behaviorists are discovering key features of sensorimotor integration in the central nervous system. In a sense, they are reverse engineering the controller of a highly versatile, multiple degree of freedom, sensor-based 'machine', of the type that roboticists would love to build.The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands. While it is a view of the state of knowledge in 1989, we feel that one way the robotics community can design and learn to control more sophisticated robot hands is for them to work with motor behaviorists. As seen from some of the work presented in this book, such alliances have already proven fruitful.The significance of this text is that it brings together researchers in dextrous manipulation, and is a generally accessible resource for both experimentalists and engineers. In a computer science department, it would be a good companion text for a graduate level course in robotics, as it deals with integrating sensory information with motor control for performing a task. It would be a useful resource for a mechanical engineering course in robot hand design, as students could use it to gain insights into functional requirements for a dextrous hand. However, a strong feature of the book is that it could be used as a text for an interdisciplinary graduate course on sensorimotor integration for both experimentalists and engineers.This book grew out of the Workshop on Dextrous Robot Hands that occurred at the 1988 IEEE Conference on Robotics and Automation in Philadelphia, Pennsylvania. Highly successful, the workshop was attended by over 150 people, and was co-sponsored by the IEEE Computer Society and the Office of Naval Research.The first part of the book focuses on the functionality of human hands, discussing results from studies in prehension and apprehension. The first four chapters describe models of human hand function and present evidence VI Preface for why these models are valid. It is interesting to note that knowledgebased expert systems are described in Chapters 1 and 4 for codifying those models. The second part of the book focuses on control and computational architectures needed for dextrous hands. Chapters 5 through 7 describe architectural design decisions for three d...

show abstract

Section: Tactile Sensorsmentioning

confidence: 99%

Section: Spatial Resolutionmentioning

confidence: 99%

Dextrous Robot Hands

Venkataraman

Iberall

1990

View full text Add to dashboard Cite

show abstract

“…This consists of exerting physical pressure on the surface of a soft tissue/organ and analysing the force feedback received which finally results to the evaluation of the important data about health condition of a soft tissue/organ [6][7][8][9]. Although palpation has a key role in different medical diagnosis or surgical operations, it depends very much on the experience and skill of the doctor/surgeon.…”

Section: Introductionmentioning

confidence: 99%

Application of artificial palpation in vascular surgeries for detection of peripheral arterial stenosis

Mehrizi

Moini

Afshari

et al. 2014

Journal of Medical Engineering & Technology

View full text Add to dashboard Cite

Palpation is one of the applied methods that surgeons usually use during surgery in order to verify the health condition of a tissue/organ. In fact, most of surgical assessments are based on analysis of the force feedback received from tissue/organ via palpation. Although palpation has a key role in efficient progress of surgery operations, it depends very much on the experience and skill of the surgeons. This limits the application of this technique in some cases to a large extent. In this regard, an artificial tactile sensing approach is an innovative technology that tries to make tactile data more available for surgeons, especially in situations where doing the palpation is not possible or is too difficult. In this paper, having considered the present problems of artery bypass surgery in peripheral arterial occlusive disease (PAOD), applicability of a new tactile sensory system capable of detecting arterial stenosis during surgery was evaluated. Presenting the modelling and numerical solution of the problem, it was demonstrated that the artificial tactile sensing approach is not only capable of detecting the presence of an arterial stenosis in an artery, but also its type. Furthermore, it was shown that the new tactile sensory system (previously designed, fabricated and tested in laboratory) is efficiently capable of detecting the simulated artery in the simulated biological tissue as well as diagnosis of the stenosis occurred inside it.

show abstract

“…In [ 12 ], it was observed that the most significant age difference in vibrotactile detection threshold was found in the glabrous finger with the difference being less pronounced at lower frequencies (5–10 Hz) and more pronounced as the frequency increases to 300 Hz. Studies have equally shown that the perceived intensity of stimulation is determined by both the depth of penetration and the rate of skin indentation [ 8 , 15 ]. The large numbers of touch receptors present in our skin allow us to obtain rich information through haptic interaction by touching the objects around [ 16 , 17 , 18 , 19 , 20 , 21 ].…”

Section: Introductionmentioning

confidence: 99%

Tacsac: A Wearable Haptic Device with Capacitive Touch-Sensing Capability for Tactile Display

Ozioko

Navaraj

Hersh

et al. 2020

Sensors

View full text Add to dashboard Cite

This paper presents a dual-function wearable device (Tacsac) with capacitive tactile sensing and integrated tactile feedback capability to enable communication among deafblind people. Tacsac has a skin contactor which enhances localized vibrotactile stimulation of the skin as a means of feedback to the user. It comprises two main modules—the touch-sensing module and the vibrotactile module; both stacked and integrated as a single device. The vibrotactile module is an electromagnetic actuator that employs a flexible coil and a permanent magnet assembled in soft poly (dimethylsiloxane) (PDMS), while the touch-sensing module is a planar capacitive metal-insulator-metal (MIM) structure. The flexible coil was fabricated on a 50 µm polyimide (PI) sheet using Lithographie Galvanoformung Abformung (LIGA) micromoulding technique. The Tacsac device has been tested for independent sensing and actuation as well as dual sensing-actuation mode. The measured vibration profiles of the actuator showed a synchronous response to external stimulus for a wide range of frequencies (10 Hz to 200 Hz) within the perceivable tactile frequency thresholds of the human hand. The resonance vibration frequency of the actuator is in the range of 60–70 Hz with an observed maximum off-plane displacement of 0.377 mm at coil current of 180 mA. The capacitive touch-sensitive layer was able to respond to touch with minimal noise both when actuator vibration is ON and OFF. A mobile application was also developed to demonstrate the application of Tacsac for communication between deafblind person wearing the device and a mobile phone user who is not deafblind. This advances existing tactile displays by providing efficient two-way communication through the use of a single device for both localized haptic feedback and touch-sensing.

show abstract

The Physiology and Psychophysics of Touch

Cited by 23 publications

References 48 publications

Dextrous Robot Hands

Dextrous Robot Hands

Application of artificial palpation in vascular surgeries for detection of peripheral arterial stenosis

Tacsac: A Wearable Haptic Device with Capacitive Touch-Sensing Capability for Tactile Display

Contact Info

Product

Resources

About