Haptic sensing system with active perception
Human haptic perception is not caused by simple mechanical stimulation to the skin; it is achieved by integrating sensory information from various receptors (such as mechano-receptors and thermo-receptors) and by observing objects in various ways. The author constructed sensing systems which simulate human haptic processes in order to clarify the mechanism of such sensory integration and active perception. In this article, first the author formalizes these processes from a theoretical point of view and constructs an 'intentional observation' algorithm on the basis of that formalization. This algorithm is to select appropriate sensors from many sensors based on information criteria to recognize objects more accurately by fewer observations. Second, the author describes two kinds of haptic sensing systems which recognize objects' materials and surface textures utilizing actively several sensor devices, and shows that the proposed algorithm is effective in these actual systems. Some related problems are also discussed.
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Document Type: Research Article
Affiliations: Department of Mathematical Engineering and Information Physics, Faculty of Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113, Japan
Publication date: January 1, 1993