Fault tolerant tactile sensor arrays for prosthesis

Teja, S. Ravi; Mekie, Joycee; Cabibihan, John-John; Thakor, Nitish V.; Kukreja, Sunil L.

doi:10.1109/biorob.2016.7523594

“…Because of the skin injury, some of the mechanoreceptors are probably affected, however, we are still able to recognize different objects with the help of unaffected mechanoreceptors which show the robustness of the biological tactile system 47 . Fault-tolerance capability is an increasingly important feature for robotic/prosthetic hands, especially for remote applications 40,48,49 . Robustness in neuromorphic systems leads them to be more employed in a variety of applications.…”

Section: Contribution Of Tactile Afferents and Nociceptorsmentioning

confidence: 99%

“…This can provide the prosthesis self-protection to avoid injury during haptic exploration. Indeed, sensor arrays are exposed to damage that can adversely affect the performance of the neuromorphic system 40 . Considering the role of nociceptors and mechanoreceptors, simultaneously, makes the system to be robust against damage in taxels or afferents/nociceptors to some extent.…”

mentioning

confidence: 99%

Sharpness recognition based on synergy between bio-inspired nociceptors and tactile mechanoreceptors

Parvizi-Fard

¹

,

Salimi-Nezhad

²

,

Amiri

³

et al. 2021

Sci Rep

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Touch and pain sensations are complementary aspects of daily life that convey crucial information about the environment while also providing protection to our body. Technological advancements in prosthesis design and control mechanisms assist amputees to regain lost function but often they have no meaningful tactile feedback or perception. In the present study, we propose a bio-inspired tactile system with a population of 23 digital afferents: 12 RA-I, 6 SA-I, and 5 nociceptors. Indeed, the functional concept of the nociceptor is implemented on the FPGA for the first time. One of the main features of biological tactile afferents is that their distal axon branches in the skin, creating complex receptive fields. Given these physiological observations, the bio-inspired afferents are randomly connected to the several neighboring mechanoreceptors with different weights to form their own receptive field. To test the performance of the proposed neuromorphic chip in sharpness detection, a robotic system with three-degree of freedom equipped with the tactile sensor indents the 3D-printed objects. Spike responses of the biomimetic afferents are then collected for analysis by rate and temporal coding algorithms. In this way, the impact of the innervation mechanism and collaboration of afferents and nociceptors on sharpness recognition are investigated. Our findings suggest that the synergy between sensory afferents and nociceptors conveys more information about tactile stimuli which in turn leads to the robustness of the proposed neuromorphic system against damage to the taxels or afferents. Moreover, it is illustrated that spiking activity of the biomimetic nociceptors is amplified as the sharpness increases which can be considered as a feedback mechanism for prosthesis protection. This neuromorphic approach advances the development of prosthesis to include the sensory feedback and to distinguish innocuous (non-painful) and noxious (painful) stimuli.

show abstract

“…This can provide the prosthesis self-protection to avoid injury during haptic exploration. Indeed, sensor arrays are exposed to damage that can adversely affect the performance of the neuromorphic system 40 . Considering the role of nociceptors and mechanoreceptors, simultaneously, makes the system to be robust against damage in taxels or afferents to some extent.…”

Section: Introductionmentioning

confidence: 99%

Sharpness Recognition Based on Synergy between Bio-inspired Nociceptors and Tactile Mechanoreceptors 

Parvizi-Fard¹,

Salimi-Nezhad²,

Amiri³

et al. 2021

Preprint

0

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Touch and pain sensations are complementary aspects of daily life that convey crucial information about the environment while also providing protection to our body. Technological advancements in prosthesis design and control mechanisms assist amputees to regain lost function but often they have no meaningful tactile feedback or perception. In the present study, we propose a bio-inspired tactile system with a population of 23 digital afferents: 12 RA-I, 6 SA-I, and 5 nociceptors. Indeed, the functional concept of the nociceptor is implemented on the FPGA for the first time. One of the main features of biological tactile afferents is that their distal axon branches in the skin, creating complex receptive fields. Given these physiological observations, the bio-inspired afferents are randomly connected to the several neighboring mechanoreceptors with different weights to form their own receptive field. To test the performance of the proposed neuromorphic chip in sharpness detection, a robotic system with three-degree of freedom equipped with the tactile sensor indents the 3D-printed objects. Spike responses of the biomimetic afferents are then collected for analysis by rate and temporal coding algorithms. In this way, the impact of the innervation mechanism and collaboration of afferents and nociceptors on sharpness recognition are investigated. Our findings suggest that the synergy between sensory afferents and nociceptors conveys more information about tactile stimuli which in turn leads to the robustness of the proposed neuromorphic system against damage to the taxels or afferents. Moreover, it is illustrated that spiking activity of the biomimetic nociceptors is amplified as the sharpness increases which can be considered as a feedback mechanism for prosthesis protection. This neuromorphic approach advances the development of prosthesis to include the sensory feedback and to distinguish innocuous (non-painful) and noxious (painful) stimuli.

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Design and Analysis of Flexible Joints for a Robust 3D Printed Prosthetic Hand

Alkhatib

¹

,

Mahdi

²

,

Cabibihan

³

2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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Fault tolerant tactile sensor arrays for prosthesis

Cited by 5 publications

References 12 publications

Sharpness recognition based on synergy between bio-inspired nociceptors and tactile mechanoreceptors

Sharpness recognition based on synergy between bio-inspired nociceptors and tactile mechanoreceptors

Sharpness Recognition Based on Synergy between Bio-inspired Nociceptors and Tactile Mechanoreceptors

Design and Analysis of Flexible Joints for a Robust 3D Printed Prosthetic Hand

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Fault tolerant tactile sensor arrays for prosthesis

Cited by 5 publications

References 12 publications

Sharpness recognition based on synergy between bio-inspired nociceptors and tactile mechanoreceptors

Sharpness recognition based on synergy between bio-inspired nociceptors and tactile mechanoreceptors

Sharpness Recognition Based on Synergy between Bio-inspired Nociceptors and Tactile Mechanoreceptors&nbsp;

Design and Analysis of Flexible Joints for a Robust 3D Printed Prosthetic Hand

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Product

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About

Sharpness Recognition Based on Synergy between Bio-inspired Nociceptors and Tactile Mechanoreceptors