Texture- and deformability-based surface recognition by tactile image analysis

The Impact of the Electronic Skin Substrate on the Robotic Tactile Sensing

The tactile sensing is of significant interest for coexisting-cooperative-cognitive robots (Tri-Co robots). In order to improve the tactile sensing performance of the robot via an electronic skin (e-skin), an auxiliary elastomeric substrate is required. This paper investigates the effect of the substrate including elastic modulus, thickness and location on the static sensing at first. It is found that thick substrate with small elastic modulus can even the force distribution effectively and improve the contact area sensing. But it brought noises and crosstalk on the e-skin when the substrate has the large deformation. In occasions of dynamic tactile sensing, the impact of substrate thickness and elastic modulus was also studied and it is found that smaller elastic modulus can help e-skin sense larger and higher frequency stimulus.

Characterization of Pulmonary Nodules Based on Features of Margin Sharpness and Texture

Lung cancer is the leading cause of cancer-related deaths in the world, and one of its manifestations occurs with the appearance of pulmonary nodules. The classification of pulmonary nodules may be a complex task to specialists due to temporal, subjective, and qualitative aspects. Therefore, it is important to integrate computational tools to the early pulmonary nodule classification process, since they have the potential to characterize objectively and quantitatively the lesions. In this context, the goal of this work is to perform the classification of pulmonary nodules based on image features of texture and margin sharpness. Computed tomography scans were obtained from a publicly available image database. Texture attributes were extracted from a co-occurrence matrix obtained from the nodule volume. Margin sharpness attributes were extracted from perpendicular lines drawn over the borders on all nodule slices. Feature selection was performed by different algorithms. Classification was performed by several machine learning classifiers and assessed by the area under the receiver operating characteristic curve, sensitivity, specificity, and accuracy. Highest classification performance was obtained by a random forest algorithm with all 48 extracted features. However, a decision tree using only two selected features obtained statistically equivalent performance on sensitivity and specificity.

An Extreme Learning Machine-Based Neuromorphic Tactile Sensing System for Texture Recognition

Despite significant advances in computational algorithms and development of tactile sensors, artificial tactile sensing is strikingly less efficient and capable than the human tactile perception. Inspired by efficiency of biological systems, we aim to develop a neuromorphic system for tactile pattern recognition. We particularly target texture recognition as it is one of the most necessary and challenging tasks for artificial sensory systems. Our system consists of a piezoresistive fabric material as the sensor to emulate skin, an interface that produces spike patterns to mimic neural signals from mechanoreceptors, and an extreme learning machine (ELM) chip to analyze spiking activity. Benefiting from intrinsic advantages of biologically inspired event-driven systems and massively parallel and energy-efficient processing capabilities of the ELM chip, the proposed architecture offers a fast and energy-efficient alternative for processing tactile information. Moreover, it provides the opportunity for the development of low-cost tactile modules for large-area applications by integration of sensors and processing circuits. We demonstrate the recognition capability of our system in a texture discrimination task, where it achieves a classification accuracy of 92% for categorization of ten graded textures. Our results confirm that there exists a tradeoff between response time and classification accuracy (and information transfer rate). A faster decision can be achieved at early time steps or by using a shorter time window. This, however, results in deterioration of the classification accuracy and information transfer rate. We further observe that there exists a tradeoff between the classification accuracy and the input spike rate (and thus energy consumption). Our work substantiates the importance of development of efficient sparse codes for encoding sensory data to improve the energy efficiency. These results have a significance for a wide range of wearable, robotic, prosthetic, and industrial applications.