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Human Tactile Sensing

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Book cover Robotic Tactile Sensing

Abstract

Designing a meaningful robotic tactile sensing system requires a broad, but integrated, knowledge of how tactile information is encoded and transmitted at various stages of interaction via touch. In this context, various scientific studies on human sense of touch can provide a good starting point. The sense of touch in humans comprises of two main submodalities, i.e. “cutaneous” and “kinesthetic”, characterized on the basis of the site of sensory inputs. Much of the real world interactions involve both cutaneous/tactile and kinesthetic submodalities. This chapter focuses on the cutaneous/tactile component of human sense of touch. A brief discussion on the spatial properties of the human skin and its receptors is presented. The discussion is followed by the role and perceptual importance of the cutaneous/tactile sense in humans. This chapter has been included with an aim to understand if (and how) human tactile sensing can be the basis for the robotic tactile sensing. The chapter concludes with a set of design criteria, derived from the discussion on human cutaneous sensing, for robotic tactile system.

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Notes

  1. 1.

    The voltage pulses generated when the stimulus is greater than a threshold.

  2. 2.

    Both FA and SA are further classified as type I (FA-I, SA-I) and type II (FA-II, SA-II).

  3. 3.

    Two points threshold method involves measurement of the minimal interstimulus distance required to perceive two simultaneously applied stimuli as distinct (the indentations of the points of a pair of caliper, for example).

  4. 4.

    In orientation grating method, subjects are presented with a grating in one of two orientations on the skin. For example, on the fingerpad the gratings are presented in either a proximal–distal orientation or at right angles to that in the lateral–medial orientation. The subject indicates the orientation. The grating orientation task relies on devising stimuli that are identical except for the orientation in which they are presented to the skin.

  5. 5.

    For hearing the threshold is about 0.01 ms and for vision it is about 25 ms [33].

  6. 6.

    The early processed tactile signals are directly related to stimuli, whereas later processing stages are progressively more abstract.

  7. 7.

    The levels at which contact forces should be resolved can also be obtained by the knowledge of the elasticity of the fingertip skin and minimum detectable skin displacement. Given that the elasticity of fingertip skin is roughly of the order of 103 N/m and the detectable skin displacement is of the order of 10−6 m (Fig. 3.2), one could conclude that the sensor should resolve 10−3 N.

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  1. Ravinder S. Dahiya

    Present address: Center for Materials and Microsystems, Fondazione Bruno Kessler, Trento, Italy

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  1. Istituto Italiano di Tecnologia (IIT), Genova, Italy

    Ravinder S. Dahiya

  2. Department of Biophysical & Electronic Engineering, University of Genova, Genova, Italy

    Maurizio Valle

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Dahiya, R.S., Valle, M. (2013). Human Tactile Sensing. In: Robotic Tactile Sensing. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-0579-1_3

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