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1.
Adv Physiol Educ ; 48(4): 704-707, 2024 Dec 01.
Artigo em Inglês | MEDLINE | ID: mdl-39291934

RESUMO

The distribution of pulmonary blood flow is uneven and can be described as a three-zone model, the West zones: zone 1 occurs whenever alveolar pressure exceeds arterial pressure; zone 2 when the arterial pressure is greater than alveolar but the alveolar pressure exceeds the venous pressure; and finally zone 3 when both arterial and venous pressures exceed alveolar pressure. Consequently, the blood flow is almost determined by the difference between the arterial and venous pressures in zone 3 and between arterial and alveolar pressures in zone 2 and ceases in zone 1. The understanding of this subject may be difficult to some medical students. Therefore, to improve the learning of this topic in our physiology course, we used a didactic model to demonstrate the core concept of flow down gradients and its application to pulmonary blood flow. We modeled a Starling resistor by placing a collapsible tube inside a hermetic chamber of variable pressure. Transparent turbine flowmeters were connected to the upstream and downstream extremities of the Starling resistor, and we generated a constant airflow with a brushless motor. By maintaining the input (arterial) pressure constant and varying the chamber (alveolar) pressure, we could simulate the three zones and demonstrate the resulting flow through the turbines. In conclusion, our demonstration using a Starling resistor model combined with visible turbine flowmeters can be used to facilitate comprehension of important concepts in physiology involving flow down gradients, such as pulmonary blood flow.NEW & NOTEWORTHY The understanding of respiratory physiology is a challenge to medical students. To improve the learning of pulmonary blood flow distribution through lung vessels in our physiology course, we modeled a Starling resistor model combined with visible turbine flowmeters. Our model can significantly improve the core concept of flow down gradients teaching and its application to West zones.


Assuntos
Fisiologia , Circulação Pulmonar , Humanos , Circulação Pulmonar/fisiologia , Fisiologia/educação , Pulmão/irrigação sanguínea , Pulmão/fisiologia , Estudantes de Medicina , Ensino
2.
Entropy (Basel) ; 26(5)2024 May 17.
Artigo em Inglês | MEDLINE | ID: mdl-38785678

RESUMO

We discuss the concept and realization of a heat bath in solid state quantum systems. We demonstrate that, unlike a true resistor, a finite one-dimensional Josephson junction array or analogously a transmission line with non-vanishing frequency spacing, commonly considered as a reservoir of a quantum circuit, does not strictly qualify as a Caldeira-Leggett type dissipative environment. We then consider a set of quantum two-level systems as a bath, which can be realized as a collection of qubits. We show that only a dense and wide distribution of energies of the two-level systems can secure long Poincare recurrence times characteristic of a proper heat bath. An alternative for this bath is a collection of harmonic oscillators, for instance, in the form of superconducting resonators.

3.
Electrophoresis ; 44(21-22): 1698-1703, 2023 11.
Artigo em Inglês | MEDLINE | ID: mdl-37650251

RESUMO

We present a novel method for fabricating round cross-sectional channels for autoregulatory pressure regulators. The application of previously reported methods in multilayered soft lithography using three-dimensional printed molds is challenging. Herein, we used a thermal expansion technique to create round cross-sectional channels in replica layers using air in the cavity space of a master mold. The width and height of the round channel in the replica could be adjusted in the range of 80-300 and 3-57 µm, respectively, by varying the precuring time of the replica in the gel state and adjusting the cavity size of the master mold. We successfully fabricated a pressure regulator with a round cross-sectional channel, achieving a constant output pressure at a low threshold input pressure. Our device exhibited superior performance, with a constant output pressure at a threshold input pressure of less than 77%, compared to a device with a rectangular cross-sectional channel. Our method has significant potential for application in the fabrication of integrated microfluidic systems with round cross-sectional channels.


Assuntos
Microfluídica , Estudos Transversais , Microfluídica/métodos
4.
Sensors (Basel) ; 23(9)2023 May 04.
Artigo em Inglês | MEDLINE | ID: mdl-37177675

RESUMO

Zero-ohm resistors, also known as jumpers, are commonly used in early radio frequency (RF) prototypes as they can help engineers identify the most optimal engineering solution for their system or create application-specific hardware configurations in products. One of the key considerations when using zero-ohm jumpers in RF circuits is the potential for signal loss and interference. Every circuit connection creates a small amount of resistance and impedance, eventually adding up over long distances or in complex circuits. This paper proposes a quantitative characterization summary of standard 0201-, 0402-, 0603-, and 0805-size surface-mount package jumpers, as well as lead-free and lead solder wires, in high-frequency applications by means of time domain reflectometry (TDR) and S-parameter measurements. The typical offset from the target 50 Ω impedance was measured to be around 3 Ω, or 5.8% relative to the measured reference value. According to S-parameter measurement results, no visible impact on attenuation was spotted up to 5 GHz compared to the reference S21 curve.

5.
Sensors (Basel) ; 23(23)2023 Nov 23.
Artigo em Inglês | MEDLINE | ID: mdl-38067728

RESUMO

Force myography (FMG) represents a promising alternative to surface electromyography (EMG) in the context of controlling bio-robotic hands. In this study, we built upon our prior research by introducing a novel wearable armband based on FMG technology, which integrates force-sensitive resistor (FSR) sensors housed in newly designed casings. We evaluated the sensors' characteristics, including their load-voltage relationship and signal stability during the execution of gestures over time. Two sensor arrangements were evaluated: arrangement A, featuring sensors spaced at 4.5 cm intervals, and arrangement B, with sensors distributed evenly along the forearm. The data collection involved six participants, including three individuals with trans-radial amputations, who performed nine upper limb gestures. The prediction performance was assessed using support vector machines (SVMs) and k-nearest neighbor (KNN) algorithms for both sensor arrangments. The results revealed that the developed sensor exhibited non-linear behavior, and its sensitivity varied with the applied force. Notably, arrangement B outperformed arrangement A in classifying the nine gestures, with an average accuracy of 95.4 ± 2.1% compared to arrangement A's 91.3 ± 2.3%. The utilization of the arrangement B armband led to a substantial increase in the average prediction accuracy, demonstrating an improvement of up to 4.5%.


Assuntos
Gestos , Dispositivos Eletrônicos Vestíveis , Humanos , Extremidade Superior , Miografia/métodos , Eletromiografia/métodos , Mãos , Algoritmos
6.
Sensors (Basel) ; 23(3)2023 Jan 18.
Artigo em Inglês | MEDLINE | ID: mdl-36772146

RESUMO

Increasing demands for precision electronics require individual components such as resistors to be specified, as they can be the limiting factor within a circuit. To specify quality and long-term stability of resistors, noise measurements are a common method. This review briefly explains the theoretical background, introduces the noise index and provides an insight on how this index can be compared to other existing parameters. It then focuses on the different methods to measure excess noise in resistors. The respective advantages and disadvantages are pointed out in order to simplify the decision of which setup is suitable for a particular application. Each method is analyzed based on the integration of the device under test, components used, shielding considerations and signal processing. Furthermore, our results on the excess noise of resistors and resistor networks are presented using two different setups, one for very low noise measurements down to 20 µHz and one for broadband up to 100 kHz. The obtained data from these measurements are then compared to published data. Finally, first measurements on commercial strain gauges and inkjet-printed strain gauges are presented that show an additional 1/fα component compared to commercial resistors and resistor networks.

7.
Sensors (Basel) ; 23(24)2023 Dec 05.
Artigo em Inglês | MEDLINE | ID: mdl-38139484

RESUMO

Trips and slips are significant causal perturbations leading to falls on stairs, especially in older people. The risk of a trip caused by a toe or heel catch on the step edge increases when clearance is small and variable between steps. The risk of a slip increases if the proportion of the foot area in contact with the step is reduced and variable between steps. To assess fall risk, these measurements are typically taken in a gait lab using motion-capture optoelectronic systems. The aim of this work was to develop a novel smart shoe equipped with sensors to measure foot placement and foot clearance on stairs in real homes. To validate the smart shoe as a tool for estimating stair fall risk, twenty-five older adults' sensor-based measurements were compared against foot placement and clearance measurements taken in an experimental staircase in the lab using correlations and Bland-Altman agreement techniques. The results showed that there was a good agreement and a strong positive linear correlation for foot placement (r = 0.878, p < 0.000) and foot clearance (r = 0.967, p < 0.000) between sensor and motion analysis, offering promise for advancing the current prototype into a measurement tool for fall risk in real-life staircases.


Assuntos
Sapatos , Caminhada , Humanos , Idoso , Negociação , Fenômenos Biomecânicos , Marcha
8.
Sensors (Basel) ; 23(11)2023 May 25.
Artigo em Inglês | MEDLINE | ID: mdl-37299776

RESUMO

Sorts of Li-ion batteries (LIB) have been becoming important energy supply and storage devices. As a long-standing obstacle, safety issues are limiting the large-scale adoption of high-energy-density batteries. Strategies covering materials, cell, and package processing have been paid much attention to. Here, we report a flexible sensor array with fast and reversible temperature switching that can be incorporated inside batteries to prevent thermal runaway. This flexible sensor array consists of PTCR ceramic sensors combined with printed PI sheets for electrodes and circuits. Compared to room temperature, the resistance of the sensors soars nonlinearly by more than three orders of magnitude at around 67 °C with a 1 °C/s rate. This temperature aligns with the decomposition temperature of SEI. Subsequently, the resistance returns to normal at room temperature, demonstrating a negative thermal hysteresis effect. This characteristic proves advantageous for the battery, as it enables a lower-temperature restart after an initial warming phase. The batteries with an embedded sensor array could resume their normal function without performance compromise or detrimental thermal runaway.


Assuntos
Cerâmica , Fontes de Energia Elétrica , Temperatura , Movimento Celular , Eletrodos , Íons , Lítio
9.
J Neuroeng Rehabil ; 19(1): 135, 2022 12 08.
Artigo em Inglês | MEDLINE | ID: mdl-36482447

RESUMO

BACKGROUND: Electromyography (EMG)-based audiovisual biofeedback systems, developed and tested in research settings to train neuromuscular control in patient populations such as cerebral palsy (CP), have inherent implementation obstacles that may limit their translation to clinical practice. The purpose of this study was to design and validate an alternative, plantar pressure-based biofeedback system for improving ankle plantar flexor recruitment during walking in individuals with CP. METHODS: Eight individuals with CP (11-18 years old) were recruited to test both an EMG-based and a plantar pressure-based biofeedback system while walking. Ankle plantar flexor muscle recruitment, co-contraction at the ankle, and lower limb kinematics were compared between the two systems and relative to baseline walking. RESULTS: Relative to baseline walking, both biofeedback systems yielded significant increases in mean soleus (43-58%, p < 0.05), and mean (68-70%, p < 0.05) and peak (71-82%, p < 0.05) medial gastrocnemius activation, with no differences between the two systems and strong relationships for all primary outcome variables (R = 0.89-0.94). Ankle co-contraction significantly increased relative to baseline only with the EMG-based system (52%, p = 0.03). CONCLUSION: These findings support future research on functional training with this simple, low-cost biofeedback modality.


Assuntos
Extremidade Inferior , Caminhada , Humanos , Criança , Adolescente , Marcha
10.
Sensors (Basel) ; 22(9)2022 Apr 30.
Artigo em Inglês | MEDLINE | ID: mdl-35591131

RESUMO

Women often wear high-heeled shoes for professional or esthetic reasons. However, high-heeled shoes can cause discomfort and injury and can change the body's center of gravity when maintaining balance. This study developed an assessment system for predicting the maximal safe range for heel height by recording the plantar pressure of participants' feet by using force-sensing resistor (FSR) sensors and conducting analyses using regression models. Specifically, 100 young healthy women stood on an adjustable platform while physicians estimated the maximal safe height of high-heeled shoes. The collected FSR data combined with and without personal features were analyzed using regression models. The experimental results showed that the regression model based on the pressure data for the right foot had better predictive power than that based on data for the left foot, regardless of the module. The model with two heights had higher predictive power than that with a single height. Furthermore, adding personal features under the condition of two heights afforded the best predictive effect. These results can help wearers choose maximal safe high-heeled shoes to reduce injuries to the bones and lower limbs.


Assuntos
Calcanhar , Caminhada , Fenômenos Biomecânicos , Feminino , , Humanos , Sapatos
11.
Sensors (Basel) ; 22(24)2022 Dec 18.
Artigo em Inglês | MEDLINE | ID: mdl-36560360

RESUMO

The polymerase chain reaction (PCR) technology is a mainstream detection method used in medical diagnoses, environmental monitoring, food hygiene, and safety. However, the systematic analysis of a compact structure with fast temperature changes for an ultra-fast PCR device that is convenient for on-site detection still lacks investigation. To overcome the problems of low heating efficiency and non-portability of PCR devices currently used, a miniaturized PCR system based on a microfluidic chip, i.e., lab-on-chip technology, has been proposed. The main objective of this paper is to explore the feasibility of using a heat resistor that can reach a fast heating rate and temperature uniformity combined with air cooling technology for rapid cooling and to investigate the influences of various pattern designs and thicknesses of the resistor on heating rates and temperature uniformity. Additionally, a PCR chip made of various materials with different thermal properties, such as surface emissivity, thermal conductivity, mass density, and heat capacity at constant pressure is analyzed. In addition to the heat loss caused by the natural convection of air, the radiation loss of the simulation object is also considered, which makes the model much closer to the practical situation. Our research results provide a considerable reference for the design of the heating and cooling modules used in the ultra-fast PCR protocol, which has great potential in In Vitro Diagnosis (IVD) and the PCR detection of foodborne pathogens and bacteria.


Assuntos
Temperatura Baixa , Temperatura Alta , Temperatura , Simulação por Computador , Reação em Cadeia da Polimerase/métodos
12.
Sensors (Basel) ; 22(1)2022 Jan 04.
Artigo em Inglês | MEDLINE | ID: mdl-35009884

RESUMO

We report new classes of wearable sensors that monitor touch between fully-abled and disabled players in order to empower collaborative digital gaming between the two. Our approach relies on embroidered force-sensitive resistors (FSRs) embedded into armbands, which outperform the state-of-the-art in terms of sensitivity to low applied forces (0 to 5 N). Such low forces are of key significance to this application, given the diverse physical abilities of the players. With a focus on effective gameplay, we further explore the sensor's touch-detection performance, study the effect of the armband fabric selection, and optimize the sensor's placement upon the arm. Our results: (a) demonstrate a 4.4-times improvement in sensitivity to low forces compared to the most sensitive embroidered FSR reported to date, (b) confirm the sensor's ability to empower touch-based collaborative digital gaming for individuals with diverse physical abilities, and (c) provide parametric studies for the future development of diverse sensing solutions and game applications.


Assuntos
Percepção do Tato , Jogos de Vídeo , Dispositivos Eletrônicos Vestíveis , Humanos , Têxteis , Tato
13.
Environ Sci Technol ; 55(11): 7266-7275, 2021 06 01.
Artigo em Inglês | MEDLINE | ID: mdl-33974411

RESUMO

Organic aerosol (OA) is ubiquitous in the atmosphere and, during transport, can experience chemical transformation with consequences for air quality and climate. Prediction of the chemical evolution of OA depends on its reactivity with atmospheric oxidants such as the OH radical. OA particles undergo amorphous phase transitions from liquid to solid (glassy) states in response to temperature changes, which, in turn, will impact its reactivity toward OH oxidation. To improve the predictability of OA reactivity toward OH oxidation, the reactive uptake coefficients (γ) of OH radicals reacting with triacontane and squalane serving as amorphous OA surrogates were measured at temperatures from 213-293 K. γ increases strongest with temperature when the organic species is in the liquid phase, compared to when being in the semisolid or solid phase. The resistor model is applied, accounting for the amorphous phase state changes using the organic species' glass transition temperature and fragility, to evaluate the physicochemical parameters of the temperature dependent OH uptake process. This allows for the derivation of a semiempirical formula, applicable to models, to predict the degree of oxidation and chemical lifetime of the condensed-phase organic species for typical tropospheric temperature and humidity when OA particle viscosity is known.


Assuntos
Atmosfera , Aerossóis , Umidade , Oxirredução , Viscosidade
14.
Sensors (Basel) ; 21(22)2021 Nov 13.
Artigo em Inglês | MEDLINE | ID: mdl-34833626

RESUMO

Heart rate (HR) is an essential indicator of health in the human body. It measures the number of times per minute that the heart contracts or beats. An irregular heartbeat can signify a severe health condition, so monitoring heart rate periodically can help prevent heart complications. This paper presents a novel wearable sensing approach for remote HR measurement by a compact resistance-to-microcontroller interface circuit. A heartbeat's signal can be detected by a Force Sensing Resistor (FSR) attached to the body near large arteries (such as the carotid or radial), which expand their area each time the heart expels blood to the body. Depending on how the sensor interfaces with the subject, the FSR changes its electrical resistance every time a pulse is detected. By placing the FSR in a direct interface circuit, those resistance variations can be measured directly by a microcontroller without using either analog processing stages or an analog-to-digital converter. In this kind of interface, the self-heating of the sensor is avoided, since the FSR does not require any voltage or bias current. The proposed system has a sampling rate of 50 Sa/s, and an effective resolution of 10 bits (200 mΩ), enough for obtaining well-shaped cardiac signals and heart rate estimations in real time by the microcontroller. With this approach, the implementation of wearable systems in health monitoring applications is more feasible.


Assuntos
Dispositivos Eletrônicos Vestíveis , Impedância Elétrica , Frequência Cardíaca , Humanos , Monitorização Fisiológica , Palpação
15.
Neurol Sci ; 41(Suppl 2): 417-421, 2020 Dec.
Artigo em Inglês | MEDLINE | ID: mdl-32852682

RESUMO

Headache is the most frequent and often the most severe symptom of idiopathic intracranial hypertension (IIH) clinical presentation, although pain characteristics are very variable among sufferers and the pain may even lack in some cases. Whatever the headache features, refractoriness to treatments, pain worsening in the recumbent position, and frequent awakenings with severe headache late in the night are the specific complains of such patients. However, a migraine or probable migraine headache, mostly with a chronic headache pattern, can be diagnosed in about 2/3 of the cases. In IIH cases without papilledema (IIHWOP), this leads to a high rate of misdiagnosis with primary chronic migraine (CM). Mechanisms responsible for the shared migrainous presentation of CM and IIH/IIHWOP may rely on a pathologic CGRP release from the rich trigemino-vascular innervated dural sinuses, congested in the course of raised intracranial pressure. The possible role of IIHWOP as a powerful and modifiable risk factor for migraine progression is discussed. Further studies investigating the possible efficacy of anti CGRP/receptor antibodies in IIH/IIHWOP headache treatment are needed.


Assuntos
Hipertensão Intracraniana , Papiledema , Pseudotumor Cerebral , Peptídeo Relacionado com Gene de Calcitonina , Cefaleia , Humanos , Pseudotumor Cerebral/complicações , Pseudotumor Cerebral/diagnóstico
16.
J Res Natl Inst Stand Technol ; 125: 125012, 2020.
Artigo em Inglês | MEDLINE | ID: mdl-35465390

RESUMO

Calibration services for resistance metrology have continued to advance their capabilities and establish new and improved methods for maintaining standard resistors. Despite the high quality of these methods, there still exist inherent limitations to the number of simultaneous, measurable resistors and the temperature stability of their air environment. In that context, we report progress on the design, development, and initial testing of a precise temperature-control chamber for standard resistors that can provide a constant-temperature environment with a stability of ± 6 m°C. Achieving this stability involved customizing the chamber design based on air-flow simulations. Moreover, microprocessor programming allowed the air flow to be optimized within an unsealed chamber configuration to reduce chamber temperature recovery times. Further tests were conducted to improve the stability of the control system and the efficiency of the chamber.

17.
Sensors (Basel) ; 20(6)2020 Mar 11.
Artigo em Inglês | MEDLINE | ID: mdl-32168978

RESUMO

Safe quality control of radiotherapy treatments lies in reliable dosimetric sensors. Currently, ionization chambers and solid-state diodes along with electrometers as readout systems are accomplishing this task. In this work, we present a well-known and low-cost semiconductor sensor, the light-dependent resistor (LDR), as an alternative to the existing sensing devices for dosimetry. To demonstrate this, a complete characterization of the response to radiation of commercial LDRs has been conducted in terms of sensitivity, reproducibility and thermal correction under different bias voltages. Irradiation sessions have been applied under the common conditions in radiotherapy treatments using a hospital linear accelerator. Moreover, the same electrometer used for the ionization chamber has also been successfully used for LDRs. In comparison with the sensitivity achieved for the ionization chamber (0.2 nC/cGy at 400 V bias voltage), higher sensitivities have been measured for the proposed LDRs, ranging from 0.24 to 1.04 nC/cGy at bias voltages from 30 to 150 V, with a reproducibility uncertainty among samples of around 10%. In addition, LDR temperature dependence has been properly modeled using the simple thermistor model so that an easy thermal drift correction of dose measurements can be applied. Therefore, experimental results show that LDRs can be a reliable alternative to dosimetric sensors with the advantages of low size, affordable cost and the fact that it could be adopted with minimal changes in routine dosimetry quality control since the same readout system is fully compatible.


Assuntos
Eletrônica Médica/instrumentação , Radiometria/instrumentação , Dosagem Radioterapêutica , Equipamentos e Provisões Elétricas , Eletrônica Médica/normas , Desenho de Equipamento , Luz , Modelos Biológicos , Sensibilidade e Especificidade , Temperatura
18.
Sensors (Basel) ; 20(2)2020 Jan 10.
Artigo em Inglês | MEDLINE | ID: mdl-31936851

RESUMO

Keeping IoT devices secure has been a major challenge recently. One of the possible solutions to secure IoT devices is to use a physically unclonable function (PUF). A PUF is a security primitive that can generate device-specific cryptographic information by extracting the features of hardware uncertainty. Because PUF instances are very difficult to replicate even by the manufacturer, the generated bit sequence can be used as cryptographic keys or as a unique identifier for the device. Regarding the implementation of PUF, the majority of PUFs introduced over the past decade are in the form of active components and have been implemented as separate chips or embedded as a part of a chip, making it difficult to use them in low-cost IoT devices due to cost and design flexibility. One approach to easily adopt PUFs in resource-constrained IoT devices is to use passive components such as resistors and capacitors (RC) that can be configured at low cost. The main feature of this RC-based PUF is that it extracts the small difference caused by charging and discharging of RC circuits and uses it as a response. In this paper, we extend the previous research and show the possibility to secure IoT devices by using the RC-based PUF.

19.
Sensors (Basel) ; 20(14)2020 Jul 13.
Artigo em Inglês | MEDLINE | ID: mdl-32668584

RESUMO

This paper presents forcecardiography (FCG), a novel technique to measure local, cardiac-induced vibrations onto the chest wall. Since the 19th century, several techniques have been proposed to detect the mechanical vibrations caused by cardiovascular activity, the great part of which was abandoned due to the cumbersome instrumentation involved. The recent availability of unobtrusive sensors rejuvenated the research field with the most currently established technique being seismocardiography (SCG). SCG is performed by placing accelerometers onto the subject's chest and provides information on major events of the cardiac cycle. The proposed FCG measures the cardiac-induced vibrations via force sensors placed onto the subject's chest and provides signals with a richer informational content as compared to SCG. The two techniques were compared by analysing simultaneous recordings acquired by means of a force sensor, an accelerometer and an electrocardiograph (ECG). The force sensor and the accelerometer were rigidly fixed to each other and fastened onto the xiphoid process with a belt. The high-frequency (HF) components of FCG and SCG were highly comparable (r > 0.95) although lagged. The lag was estimated by cross-correlation and resulted in about tens of milliseconds. An additional, large, low-frequency (LF) component, associated with ventricular volume variations, was observed in FCG, while not being visible in SCG. The encouraging results of this feasibility study suggest that FCG is not only able to acquire similar information as SCG, but it also provides additional information on ventricular contraction. Further analyses are foreseen to confirm the advantages of FCG as a technique to improve the scope and significance of pervasive cardiac monitoring.


Assuntos
Coração/fisiologia , Monitorização Fisiológica/instrumentação , Parede Torácica , Vibração , Acelerometria , Eletrocardiografia , Humanos
20.
Sensors (Basel) ; 21(1)2020 Dec 27.
Artigo em Inglês | MEDLINE | ID: mdl-33375400

RESUMO

Transfer of learning or leveraging a pre-trained network and fine-tuning it to perform new tasks has been successfully applied in a variety of machine intelligence fields, including computer vision, natural language processing and audio/speech recognition. Drawing inspiration from neuroscience research that suggests that both visual and tactile stimuli rouse similar neural networks in the human brain, in this work, we explore the idea of transferring learning from vision to touch in the context of 3D object recognition. In particular, deep convolutional neural networks (CNN) pre-trained on visual images are adapted and evaluated for the classification of tactile data sets. To do so, we ran experiments with five different pre-trained CNN architectures and on five different datasets acquired with different technologies of tactile sensors including BathTip, Gelsight, force-sensing resistor (FSR) array, a high-resolution virtual FSR sensor, and tactile sensors on the Barrett robotic hand. The results obtained confirm the transferability of learning from vision to touch to interpret 3D models. Due to its higher resolution, tactile data from optical tactile sensors was demonstrated to achieve higher classification rates based on visual features compared to other technologies relying on pressure measurements. Further analysis of the weight updates in the convolutional layer is performed to measure the similarity between visual and tactile features for each technology of tactile sensing. Comparing the weight updates in different convolutional layers suggests that by updating a few convolutional layers of a pre-trained CNN on visual data, it can be efficiently used to classify tactile data. Accordingly, we propose a hybrid architecture performing both visual and tactile 3D object recognition with a MobileNetV2 backbone. MobileNetV2 is chosen due to its smaller size and thus its capability to be implemented on mobile devices, such that the network can classify both visual and tactile data. An accuracy of 100% for visual and 77.63% for tactile data are achieved by the proposed architecture.


Assuntos
Redes Neurais de Computação , Robótica , Tato , Humanos , Percepção Visual
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