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Tactile and Chemical Senses01:27

Tactile and Chemical Senses

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. This...

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Eye Tracking Young Children with Autism
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Head tracking using an optical soft tactile sensing surface.

Bhoomika Gandhi1, Lyudmila Mihaylova1, Sanja Dogramadzi1

  • 1School of Electrical and Electronic Engineering, The University of Sheffield, Sheffield, United Kingdom.

Frontiers in Robotics and AI
|July 24, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces an optical tactile sensor using a fibrescope for human head motion tracking, crucial for radiotherapy. Grayscale image processing with the Lukas-Kanade algorithm showed promising results for accurate motion detection.

Keywords:
head and neckmotion trackingoptical flowradiotherapytactile sensing

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Area of Science:

  • Robotics and Automation
  • Biomedical Engineering
  • Computer Vision

Background:

  • Traditional motion capture systems often rely on external cameras, which can be cumbersome and susceptible to interference.
  • Tactile sensing offers advantages in robotic feedback-based interactions, mimicking human skin's sensory capabilities.
  • Existing robotic grippers have utilized cameras for tactile sensing, but compatibility with electromagnetic interference remains a challenge.

Purpose of the Study:

  • To propose and evaluate a novel optical tactile sensor for tracking human head motion.
  • To assess the sensor's suitability for applications like radiotherapy, where electromagnetic compatibility is critical.
  • To compare image processing techniques for motion tracking accuracy.

Main Methods:

  • Implementation of a fibrescope as a non-metal alternative to traditional cameras for optical tactile sensing.
  • Motion tracking analysis in two degrees of freedom (translational in z-axis, rotational around y-axis) using a robot arm for ground truth.
  • Comparison of grayscale and binary image processing with deterministic motion tracking algorithms (Lukas-Kanade Optical Flow, Simple Blob Detection) via OpenCV.

Main Results:

  • The fibrescope-based sensor demonstrated the ability to track motion in physical contact, offering an alternative to external camera systems.
  • Grayscale image processing combined with the Lukas-Kanade algorithm yielded superior motion tracking performance compared to other tested methods.
  • Accurate results were achieved through time synchronization of sensor data and ground truth values using robotics operating system tools.

Conclusions:

  • The proposed optical tactile sensor, utilizing a fibrescope, shows potential for accurate human head motion detection, particularly in electromagnetically sensitive environments.
  • Grayscale image processing and the Lukas-Kanade algorithm are effective for motion estimation in this tactile sensing application.
  • Further research is needed to enhance the tracking accuracy for broader clinical and robotic applications.