Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network.
Sensors (Basel)
; 22(18)2022 Sep 15.
Article
em En
| MEDLINE
| ID: mdl-36146344
ABSTRACT
Dexterous manipulation in robotic hands relies on an accurate sense of artificial touch. Here we investigate neuromorphic tactile sensation with an event-based optical tactile sensor combined with spiking neural networks for edge orientation detection. The sensor incorporates an event-based vision system (mini-eDVS) into a low-form factor artificial fingertip (the NeuroTac). The processing of tactile information is performed through a Spiking Neural Network with unsupervised Spike-Timing-Dependent Plasticity (STDP) learning, and the resultant output is classified with a 3-nearest neighbours classifier. Edge orientations were classified in 10-degree increments while tapping vertically downward and sliding horizontally across the edge. In both cases, we demonstrate that the sensor is able to reliably detect edge orientation, and could lead to accurate, bio-inspired, tactile processing in robotics and prosthetics applications.
Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Percepção do Tato
Tipo de estudo:
Prognostic_studies
Idioma:
En
Revista:
Sensors (Basel)
Ano de publicação:
2022
Tipo de documento:
Article
País de afiliação:
Reino Unido