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Related Concept Videos

Tactile and Chemical Senses01:27

Tactile and Chemical Senses

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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

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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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Sensory Perception: Organization of the Somatosensory System01:11

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The somatosensory system is the central and peripheral nervous system component that senses and processes touch, pressure, pain, temperature, and body position or proprioception. The process of sensation takes place at three levels:
The receptor level:
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Sensory Functions of the Skin01:16

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The skin is the largest organ of the human body and plays a crucial role in our sensory perception. It contains a vast network of sensory receptors that contribute to the skin's protective function by perceiving physical, biological, and environmental cues and generating relevant responses.
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Overview of Somatic Sensory Pathways01:29

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Somatic sensory or somatosensory pathways refer to the neural pathways that carry information related to touch, pressure, pain, temperature, and proprioception from the skin, muscles, tendons, and joints to the brain. These pathways involve several stages of processing and integration of sensory information.
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What is a Sensory System?01:31

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Sensory systems detect stimuli—such as light and sound waves—and transduce them into neural signals that can be interpreted by the nervous system. In addition to external stimuli detected by the senses, some sensory systems detect internal stimuli—such as the proprioceptors in muscles and tendons that send feedback about limb position.
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Related Experiment Video

Updated: Aug 25, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
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Proprioception and Exteroception of a Soft Robotic Finger Using Neuromorphic Vision-Based Sensing.

Omar Faris1, Rajkumar Muthusamy1, Federico Renda1,2

  • 1Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates.

Soft Robotics
|October 17, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a soft robotic finger with embedded markers and a neuromorphic camera for advanced sensing. This enables precise proprioception and exteroception, improving robotic grasping capabilities.

Keywords:
deep learningexteroceptionneuromorphic vision-based sensingproprioceptionsoft finger

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Area of Science:

  • Robotics
  • Sensor Technology
  • Computer Vision

Background:

  • Soft robotic grippers face challenges in sensing and perception due to their inherent flexibility.
  • Existing methods often compromise the compliance of soft robots.

Purpose of the Study:

  • To develop a sensorized soft robotic finger with integrated sensing capabilities.
  • To enable both proprioception (self-sensing) and exteroception (environmental sensing) without sacrificing compliance.

Main Methods:

  • Embedded marker patterns on a soft robotic finger.
  • Integration with a high-speed neuromorphic event-based camera.
  • A convolutional neural network (CNN) for processing event-based data.

Main Results:

  • Successfully predicted 2D deformation for proprioception.
  • Achieved slip detection with 2ms temporal resolution for exteroception.
  • Demonstrated complete sensorization without compromising finger compliance.

Conclusions:

  • The proposed approach enables robust proprioception and exteroception in soft robotic fingers using a single camera.
  • This technology can lead to safer, adaptive, and precise grasping in robotic systems.