一个多功能触觉传感系统用于机器人智能识别和操纵感知

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.

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.

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.
There are two main categories of receptors on the skin: capsulated and non-capsulated. The non-capsulated ones are mainly the pain receptors. The capsulated ones can be further categorized based on the...

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:
The receptor level is the first stage of sensation. It involves the detection of a stimulus by specialized sensory receptors. The stimulus must arrive within the receptor's receptive field. Next, the receptor converts the energy of the stimulus...

Sensory receptors play an integral part in comprehending our external and internal environments. They receive diverse stimuli, converting them into the nervous system's electrochemical signals. This conversion occurs as the stimulus alters the sensory neuron's cell membrane potential, instigating the generation of an action potential. This action potential is subsequently transmitted to the central nervous system (CNS), which integrates with other sensory data or higher cognitive functions.

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...