Sequential clustering for tactile image compression to enable direct adaptive feedback

Andreas Geier, Gang Yan, Tito Pradhono Tomo, Shun Ogasa, Sophon Somlor, Alexander Schmitz, Shigeki Sugano

研究成果: Conference contribution

抜粋

The sense of touch is often crucial for humans to perform manipulation tasks. Providing tactile feedback during teleoperation or for users of prosthetic devices would be beneficial. However, the representation of tactile information constitutes a major technical challenge, since the numerous and possibly multimodal sensor readings are massive compared to the available tactile display technology. We introduce an algorithm that deploys two stages of K-means clustering along and across tactile image frames that render tactile sensor information at each time instant. In this manner, the massive tactile information is adaptively compressed in real-time while preserving its physical meaning, thus, remains intuitive and direct. We experimentally verify and examine the characteristics of our algorithm by evaluating the original and compressed tactile data. The data was gathered during the active tactile exploration of several objects of daily living by an Allegro robot hand that was covered with 15 uSkin sensor modules providing 2403-axis force vector measurements at each time instant. Our novel algorithm is straight forward enough to be implemented into tactile feedback systems. Finally, our algorithm allows for the direct feedback of massive tactile sensor data for a broad variety of tactile sensors and tactile displays, thereby, enables the compressed yet intuitive representation of massive tactile sensor information for real-time applications.

元の言語English
ホスト出版物のタイトル2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ8117-8124
ページ数8
ISBN(電子版)9781728140049
DOI
出版物ステータスPublished - 2019 11
イベント2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
継続期間: 2019 11 32019 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
China
Macau
期間19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • これを引用

    Geier, A., Yan, G., Tomo, T. P., Ogasa, S., Somlor, S., Schmitz, A., & Sugano, S. (2019). Sequential clustering for tactile image compression to enable direct adaptive feedback. : 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 8117-8124). [8968493] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968493