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Related Concept Videos

Tactile and Chemical Senses01:27

Tactile and Chemical Senses

390
Tactile senses encompass touch, temperature, and pain, each mediated by specific receptors. Touch receptors detect mechanical energy or pressure against the skin. Sensory fibers from these receptors enter the spinal cord and relay information to the brain stem. Here, most fibers cross over to the opposite side of the brain. The touch information then moves to the thalamus, which projects a map of the body's surface onto the somatosensory areas of the parietal lobes in the cerebral cortex.
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Somatosensation01:33

Somatosensation

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The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.
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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Adaptive Grasping of Moving Objects through Tactile Sensing.

Patrick Lynch1, Michael F Cullinan1, Conor McGinn1

  • 1School of Engineering, Trinity College Dublin, D02 PN40 Dublin, Ireland.

Sensors (Basel, Switzerland)
|December 28, 2021
PubMed
Summary

Tactile sensors enhance robot grasping of moving objects by improving adaptability to prediction errors. Integrating near-field sensor data boosts grasp robustness, especially in challenging contact scenarios.

Keywords:
adaptive controldynamic graspinggraspingreactive controlrobotic graspingtactile sensing

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Area of Science:

  • Robotics
  • Sensor Fusion
  • Artificial Intelligence

Background:

  • Robotic grasping of moving objects requires real-time sensor data from both far-field and near-field.
  • Tactile sensing offers potential for improving grasp robustness against prediction errors.

Purpose of the Study:

  • To investigate the contribution of tactile sensing to grasping a moving object.
  • To evaluate if combining tactile data with reactive grasping enhances adaptive performance.

Main Methods:

  • A two-finger gripper was used to grasp a ball rolling on a horizontal plane at various speeds.
  • Two algorithms were compared: one using tactile sensor-initiated grasping, the other using predicted position (vision-proxy).

Main Results:

  • Integrating tactile sensor feedback significantly increased grasp robustness.
  • Performance gains were particularly notable when the gripper-ball contact point was off-center.

Conclusions:

  • Near-field tactile sensor data integration enhances robotic grasp strategies for moving objects.
  • This approach improves robustness to prediction errors and off-center contacts, motivating further research.