Morphological computation in haptic sensation and interaction: from nature to robotics

  title={Morphological computation in haptic sensation and interaction: from nature to robotics},
  author={Julius E. Bernth and Van Anh Ho and Hongbin Liu},
  journal={Advanced Robotics},
  pages={340 - 362}
Abstract Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots. Tasks involving unstructured or changing environments can significantly benefit from haptic sensation. The requirements of such sensing systems can be complex, however. Many designers have succeeded in using the morphological properties of the sensors themselves, such as geometry or material properties, to replicate or replace the functions of traditional computer… 

Soft Control Interface for Highly Dexterous Unilateral Remote Palpation

A soft control interface for highly dexterous remote palpation, up to 5 degrees of freedom, is presented to use morphological computation to intrinsically encode hand trajectories, showcasing 3 different designs to test and optimize the interface's embodied intelligence.

Biomechanics in Soft Mechanical Sensing: From Natural Case Studies to the Artificial World

The aim is to make a step towards creating a toolbox with general tailoring principles, based on mechanical aspects tuned repeatedly in nature, such as orientation, shape, distribution, materials, and micromechanics, which should be used for a future methodical design of novel soft sensing systems for soft robotics.

How the Environment Shapes Tactile Sensing: Understanding the Relationship Between Tactile Filters and Surrounding Environment

The mechanical properties of a sensor strongly affect its tactile sensing capabilities. By exploiting tactile filters, mechanical structures between the sensing unit and the environment, it is

Wrinkled Soft Sensor With Variable Afferent Morphology

Preliminary results reveal the advantages of such design in introducing multiple sensitivities to both normal indention and tangential sliding stimuli, and demonstrate potentials in future development of active tactile sensing system.

Online Morphological Adaptation for Tactile Sensing Augmentation

This work introduces a jamming filter which, when placed over a tactile sensor, allows the filter to be shaped and molded online, thus varying the sensor structure, and shows that appropriate morphology can significantly influence discrimination.

Contact Distance Estimation by a Soft Active Whisker Sensor Based on Morphological Computation

A morphological computation method to localize the contact position/locate the contacted object by investigating the induced strain, measured by a strain gauge representing sensory nerves, along the length of a whisker is proposed.

Tactile Compensation for Artificial Whiskered Sensor System Under Critical Change in Morphology

A novel design soft whiskersensor system that compensates for tactile deficiency in events of change in sensor morphology upon being broken, torn, or trimmed is described, reinforcing the concept that application of morphological control has potential to bring added abilities in applied soft robotic systems with minimum burden on the CCS.

Preliminary Experiments Conducted on Prototypes of Sensitivity-changeable Soft Tactile Sensors Utilizing Phase Change*

This paper presents the fabrication and preliminary experiments conducted on two prototypes of sensitivity-changeable soft tactile sensors, which utilize the phase change of gallium between the solid and liquid states, and confirmed that these tactile sensors are responsive to sensitivity changes.

Tactile sensing biohybrid soft E-skin based on bioimpedance using aloe vera pulp tissues

A novel biohybrid E-skin that provides tactile sensing is developed and a functional multichannel prototype “ImpEdded Skin” is developed that could efficiently detect the position of a tactile touch.

Endoscope Force Generation and Intrinsic Sensing with Environmental Scaffolding

Through the measurement of actuation forces, a method for intrinsically sensing multiple contact forces when in this configuration is presented and results show that with the environmental scaffolding technique, the tip force generated can be increased by over 50% on average compared to using the device in a purely cantilevered configuration.



Morphological Computation of Haptic Perception of a Controllable Stiffness Probe

This paper designed and fabricated a novel two-degree of freedom variable stiffness indentation probe to investigate whether the regulation of internal stiffness, indentation, and probe sweeping velocity (PSV) variables affect the accuracy of the depth estimation of stiff inclusions in an artificial silicon phantom using information gain metrics.

Haptics for Virtual Reality and Teleoperation

This book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces.

Repetitive grasping with anthropomorphic skin-covered hand enables robust haptic recognition

The design of the Bionic Hand is introduced; an anthropomorphic hand with adaptive design introduced to the whole hand and fully covered with sensitive skin that enables robust haptic recognition by convergence of object contact conditions into stable representative states through repetitive grasping.

Haptic feedback in robot-assisted minimally invasive surgery

The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems.

James: A Humanoid Robot Acting over an Unstructured World

This paper discusses how principles of embodied interaction and emergence have been applied to the design of a humanoid robot called James, designed by considering an object manipulation scenario and by explicitly taking into account embodiment, interaction, and the exploitation of smart design solutions.

The efficacy of interaction behavior and internal stiffness control for embodied information gain in haptic perception

This paper uses a two-degree of freedom laboratory-made variable stiffness and indentation probe to investigate how the modulation of probing behavioral and internal stiffness variables can affect the accuracy of the depth estimation of stiff inclusions in artificial silicon phantom tissue using information gain metrics based on prior knowledge in form of memory primitives.

Optimization of a Pneumatic Balloon Tactile Display for Robot-Assisted Surgery Based on Human Perception

A compact, flexible, and lightweight pneumatic balloon tactile display has been developed suitable for mounting on robotic surgical master controls to provide the effective tactile feedback that is otherwise unavailable during robotic surgery.

Morphological computation in tactile sensing: The role of wrinkle

The sensing device is both sensitive to indentation contact and sliding action on its surface by using only one type of strain gauge, and is expected to open a new trend in development of tactile sensing system.

Lessons from Animals and Plants: The Symbiosis of Morphological Computation and Soft Robotics

Soft bodies appear to be fundamental to the emergence of behavior from the interaction with the environment, and morphological computation benefits from soft bodies that react and adapt to such an interaction.

Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface

The work in this article analyzes the shape output capabilities of a multi-cell array and shows that a discrete Laplace operator applied to the input is a suitable predictor of the correlation coefficient between the desired shape and the device output.