Skip to main content
Book cover

International Work-Conference on the Interplay Between Natural and Artificial Computation

IWINAC 2005: Mechanisms, Symbols, and Models Underlying Cognition pp 386–395Cite as

A Haptic System for the Lucs Haptic Hand I

  • Conference paper

Part of the Lecture Notes in Computer Science book series (LNTCS,volume 3561)

Abstract

This paper describes a system for haptic object categorization. It consists of a robotic hand, the LUCS Haptic Hand I, together with software modules that to some extent simulate the functioning of the primary and the secondary somatosensory cortices. The haptic system is the first one in a project at LUCS aiming at studying haptic perception. In the project, several robotic hands together with cognitive computational models of the corresponding human neurophysiological systems will be built. The haptic system was trained and tested with a set of objects consisting of balls and cubes, and the activation in the modules corresponding to secondary somatosensory cortex was studied. The results suggest that the haptic system is capable of categorization of objects according to size, if the shapes of the objects are restricted to spheres and cubes.

Keywords

  • Sensor Signal
  • Tactile Sensor
  • Sphere Diameter
  • Haptic Perception
  • Robotic Hand

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

This is a preview of subscription content, access via your institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/11499220_40
  • Chapter length: 10 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   109.00
Price excludes VAT (USA)
  • ISBN: 978-3-540-31672-5
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   139.00
Price excludes VAT (USA)
Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Balkenius, C.: Ikaros (2004) (2004-11-24), http://www.lucs.lu.se/IKAROS/

  2. Balkenius, C., Morén, J.: From isolated components to cognitive systems. ERCIM News, p. 16 (April 2003)

    Google Scholar 

  3. Dario, P., Guglielmelli, E., Laschi, C.: Humanoids and personal robots: design and experiments. Journal of robotic systems 18(12), 673–690 (2001)

    MATH  CrossRef  Google Scholar 

  4. Dario, P., Laschi, C., Carrozza, M.C., Guglielmelli, E., Teti, G., Massa, B., Zecca, M., Taddeucci, D., Leoni, F.: An integrated approach for the design and development of a grasping and manipulation system in humanoid robotics. In: Proceedings of the 2000 IEEE/RSJ international conference on intelligent robots and systems, vol. 1, pp. 1–7 (2000)

    Google Scholar 

  5. Dario, P., Laschi, C., Menciassi, A., Guglielmelli, E., Carrozza, M.C., Micera, S.: Interfacing neural and artificial systems: from neuroengineering to neurorobotics. In: Proceedings or the 1st international IEEE EMBS conference on neural engineering, pp. 418–421 (2003)

    Google Scholar 

  6. DeLaurentis, K.J., Mavroidis, C.: Development of a shape memory alloy actuated robotic hand (2000) (2004-10-28), http://citeseer.ist.psu.edu/383951.html

  7. Gardner, E.P., Kandel, E.R.: Touch. In: Kandel, E.R., Schwartz, J.H., Jessell, T.M. (eds.) Principles of neural science, pp. 451–471. McGraw-Hill, New York (2000)

    Google Scholar 

  8. Gardner, E.P., Martin, J.H., Jessell, T.M.: The bodily senses. In: Kandel, E.R., Schwartz, J.H., Jessell, T.M. (eds.) Principles of neural science, pp. 430–450. McGraw-Hill, New York (2000)

    Google Scholar 

  9. Gentaz, E.: General characteristics of the anatomical and functional organization of cutaneous and haptic perceptions. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 17–31. John Benjamins Publishing Company, Amsterdam (2003)

    Google Scholar 

  10. Gentaz, E., Hatwell, Y.: Haptic processing of spatial and material object properties. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 123–159. John Benjamins Publishing Company, Amsterdam (2003)

    Google Scholar 

  11. Hatwell, Y.: Manual exploratory procedures in children and adults. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 67–82. John Benjamins Publishing Company, Amsterdam (2003)

    Google Scholar 

  12. Johnsson, M.: Cortical Plasticity – A Model of Somatosensory Cortex (2004), http://www.lucs.lu.se/People/Magnus.Johnsson

  13. Johnsson, M.: (2005), http://www.lucs.lu.se/People/Magnus.Johnsson/HapticPerception.html

  14. Johnsson, M., Pallbo, R., Balkenius, C.: Experiments with haptic perception in a robotic hand (2005), http://www.lucs.lu.se/People/Magnus.Johnsson/

  15. Klatzky, R., Lederman, S.: The haptic identification of everyday objects. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 105–121. John Benjamins Publishing Company, Amsterdam (2003)

    Google Scholar 

  16. Kohonen, T.: The self-organizing map. Proceedings of the IEEE 78(9), 1464–1480 (1990)

    CrossRef  Google Scholar 

  17. Kohonen, T.: Self-organizing maps. Springer, Berlin (2001)

    MATH  Google Scholar 

  18. Laschi, C., Gorce, P., Coronado, J., Leoni, F., Teti, G., Rezzoug, N., Guerrero-Gonzalez, A., Molina, J.L.P., Zollo, L., Guglielmelli, E., Dario, P., Burnod, Y.: An anthropomorphic robotic platform for ex-perimental validation of biologically-inspired sensorymotor co-ordination in grasping. In: Proceedings of the 2002 IEEE/RSJ international conference on intelligent robots and systems, pp. 2545–2550 (2002)

    Google Scholar 

  19. Rhee, C., Chung, W., Kim, M., Shim, Y., Lee, H.: Door opening control using the multi-fingered robotic hand for the indoor service robot. In: Proceedings of the 2004 IEEE international conference on robotics & automation, vol. 4, pp. 4011–4016 (2004)

    Google Scholar 

  20. Streri, A.: Manual exploration and haptic perception in infants. In: Hatwell, Y., Streri, A., Gentaz, E. (eds.) Touching for knowing, pp. 51–66. John Benjamins Publishing Company, Amsterdam (2003)

    Google Scholar 

  21. Sugiuchi, H., Hasegawa, Y., Watanabe, S., Nomoto, M.: A control system for multi-fingered robotic hand with distributed touch sensor, Industrial electronics society. In: IECON 2000. 26th annual conference of the IEEE, vol. 1, pp. 434–439 (2000)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dept. of Computer Science, Lund University, Sweden

    Magnus Johnsson & Robert Pallbo

  2. Lund University Cognitive Science, Sweden

    Magnus Johnsson & Christian Balkenius

Authors
  1. Magnus Johnsson
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Robert Pallbo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Christian Balkenius
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. E.T.S.I. Informática, Universidad Nacional de Educación a Distancia, 28040, Madrid, Spain

    José Mira

  2. E.T.S. de Ingeniería Informática, Departamento de Intelifencia Artificial, Universidad Nacional de Educación a Distancia, Juan del Rosal, 16, 28040, Madrid, Spain

    José R. Álvarez

Rights and permissions

Reprints and Permissions

Copyright information

© 2005 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Johnsson, M., Pallbo, R., Balkenius, C. (2005). A Haptic System for the Lucs Haptic Hand I. In: Mira, J., Álvarez, J.R. (eds) Mechanisms, Symbols, and Models Underlying Cognition. IWINAC 2005. Lecture Notes in Computer Science, vol 3561. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11499220_40

Download citation

  • DOI: https://doi.org/10.1007/11499220_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26298-5

  • Online ISBN: 978-3-540-31672-5

  • eBook Packages: Computer ScienceComputer Science (R0)