1
|
Sajwani H, Ayyad A, Alkendi Y, Halwani M, Abdulrahman Y, Abusafieh A, Zweiri Y. TactiGraph: An Asynchronous Graph Neural Network for Contact Angle Prediction Using Neuromorphic Vision-Based Tactile Sensing. SENSORS (BASEL, SWITZERLAND) 2023; 23:6451. [PMID: 37514745 PMCID: PMC10383597 DOI: 10.3390/s23146451] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/06/2023] [Revised: 06/02/2023] [Accepted: 06/06/2023] [Indexed: 07/30/2023]
Abstract
Vision-based tactile sensors (VBTSs) have become the de facto method for giving robots the ability to obtain tactile feedback from their environment. Unlike other solutions to tactile sensing, VBTSs offer high spatial resolution feedback without compromising on instrumentation costs or incurring additional maintenance expenses. However, conventional cameras used in VBTS have a fixed update rate and output redundant data, leading to computational overhead.In this work, we present a neuromorphic vision-based tactile sensor (N-VBTS) that employs observations from an event-based camera for contact angle prediction. In particular, we design and develop a novel graph neural network, dubbed TactiGraph, that asynchronously operates on graphs constructed from raw N-VBTS streams exploiting their spatiotemporal correlations to perform predictions. Although conventional VBTSs use an internal illumination source, TactiGraph is reported to perform efficiently in both scenarios (with and without an internal illumination source) thus further reducing instrumentation costs. Rigorous experimental results revealed that TactiGraph achieved a mean absolute error of 0.62∘ in predicting the contact angle and was faster and more efficient than both conventional VBTS and other N-VBTS, with lower instrumentation costs. Specifically, N-VBTS requires only 5.5% of the computing time needed by VBTS when both are tested on the same scenario.
Collapse
Affiliation(s)
- Hussain Sajwani
- UAE National Service & Reserve Authority, Abu Dhabi, United Arab Emirates
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
| | - Abdulla Ayyad
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
| | - Yusra Alkendi
- Department of Aerospace Engineering, Khalifa University, Abu Dhabi 127788, United Arab Emirates
| | - Mohamad Halwani
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
| | - Yusra Abdulrahman
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
- Department of Aerospace Engineering, Khalifa University, Abu Dhabi 127788, United Arab Emirates
| | - Abdulqader Abusafieh
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
- Research and Development, Strata Manufacturing PJSC, Al Ain 86519, United Arab Emirates
| | - Yahya Zweiri
- Advanced Research and Innovation Center (ARIC), Khalifa University, Abu Dhabi 127788, United Arab Emirates
- Department of Aerospace Engineering, Khalifa University, Abu Dhabi 127788, United Arab Emirates
| |
Collapse
|
2
|
Doi A, Oda K, Matsumoto M, Sakoguchi H, Honda M, Ogata Y, Nakano A, Taniguchi M, Fukushima S, Imayoshi K, Nagao K, Toyoda M, Kameyama H, Sonohata M, Shin MC. Whole body vibration accelerates the functional recovery of motor nerve components in sciatic nerve-crush injury model rats. J Exerc Rehabil 2023; 19:149-162. [PMID: 37435594 PMCID: PMC10331141 DOI: 10.12965/jer.2346178.089] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Accepted: 04/30/2023] [Indexed: 07/13/2023] Open
Abstract
This study aimed to investigate the effect of whole body vibration (WBV) on the sensory and motor nerve components with sciatic nerve injury model rats. Surgery was performed on 21 female Wister rats (6-8 weeks) under intraperitoneal anesthesia. The nerve-crush injuries for the left sciatic nerve were inflicted using a Sugita aneurysm clip. The sciatic nerve model rats were randomly divided into two groups (n=9; control group, n=12; WBV group). The rats in the WBV group walked in the cage with a vibratory stimulus (frequency 50 Hz, 20 min/day, 5 times/wk), while those in the control group walked in the cage without any vibratory stimulus. We used heat stimulation-induced sensory threshold and lumbar magnetic stimulation-induced motor-evoked potentials (MEPs) to measure the sensory and motor nerve components, respectively. Further, morphological measurements, bilateral hind-limb dimension, bilateral gastrocnemius dimension, and weight were evaluated. Consequently, there were no significant differences in the sensory threshold at the injury side between the control and WBV groups. However, at 4 and 6 weeks postoperatively, MEPs latencies in the WBV group were significantly shorter than those in the control group. Furthermore, both sides of the hind-limb dimension at 6 weeks postoperatively, the left side of the gastrocnemius dimension, and both sides of the gastrocnemius weight significantly increased. In conclusion, WBV especially accelerates the functional recovery of motor nerve components in sciatic nerve-crush injury model rats.
Collapse
Affiliation(s)
- Atsushi Doi
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
- Division of Health Sciences, Graduate School of Health Sciences, Kumamoto Health Science University, Kumamoto,
Japan
| | - Kyoka Oda
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Masaki Matsumoto
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Honoka Sakoguchi
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Mizuki Honda
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Yuma Ogata
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Asuka Nakano
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Misato Taniguchi
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Shunya Fukushima
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Kyogo Imayoshi
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Kanta Nagao
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Masami Toyoda
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Hiroki Kameyama
- Department of Medical Technology, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
| | - Motoki Sonohata
- Department of Orthopaedic Surgery, Saga Central Hospital, Saga,
Japan
| | - Min-Chul Shin
- Department of Rehabilitation, Faculty of Health, Kumamoto Health Science University, Kumamoto,
Japan
- Division of Health Sciences, Graduate School of Health Sciences, Kumamoto Health Science University, Kumamoto,
Japan
| |
Collapse
|
3
|
Glaser NC, Langowski JKA. Stiff skin, soft core: soft backings enhance the conformability and friction of fibre-reinforced adhesives. ROYAL SOCIETY OPEN SCIENCE 2023; 10:221263. [PMID: 36908990 PMCID: PMC9993060 DOI: 10.1098/rsos.221263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/26/2022] [Accepted: 02/15/2023] [Indexed: 06/18/2023]
Abstract
Biomimetic adhesives with a stiff fibre-reinforced base layer generate strong attachment, even without bioinspired micropatterning of the contact surface. However, current fibre-reinforced adhesive designs are still less versatile with respect to substrate variability than their biological counterparts. In this study, we enhance the comformability of a fibre-reinforced adhesive on curved substrates by adding bioinspired soft backings. We designed and fabricated soft backing variations (polyurethane foams and silicone hydroskeletons) with varying compressive stiffnesses that mimic the soft viscoelastic structures in the adhesive appendages of tree frogs, geckos and other animals. The backings were mounted on a smooth silicone layer enforced with a polyester mesh, and we experimentally investigated the contact area and friction performance of these adhesives on a curved substrate. The results show that the contact area and friction created by a fibre-reinforced adhesive with a soft backing in contact with a non-flat substrate scale inversely with backing stiffness. The integration of stiff fibre-reinforcement with a compressible backing represents an important step in bringing bioinspired adhesives out of the laboratory and into the real world, for example in soft robotic grippers. Moreover, our findings stimulate further research into the role of soft tissues in biological adhesive systems.
Collapse
Affiliation(s)
- Niels C. Glaser
- Department of BioMechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands
| | - Julian K. A. Langowski
- Experimental Zoology Group, Department of Animal Sciences, Wageningen University and Research, De Elst 1, 6708 WD Wageningen, The Netherlands
| |
Collapse
|
4
|
Vouloutsi V, Cominelli L, Dogar M, Lepora N, Zito C, Martinez-Hernandez U. Towards Living Machines: current and future trends of tactile sensing, grasping, and social robotics. BIOINSPIRATION & BIOMIMETICS 2023; 18:025002. [PMID: 36720166 DOI: 10.1088/1748-3190/acb7b9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2022] [Accepted: 01/31/2023] [Indexed: 06/18/2023]
Abstract
The development of future technologies can be highly influenced by our deeper understanding of the principles that underlie living organisms. The Living Machines conference aims at presenting (among others) the interdisciplinary work of behaving systems based on such principles. Celebrating the 10 years of the conference, we present the progress and future challenges of some of the key themes presented in the robotics workshop of the Living Machines conference. More specifically, in this perspective paper, we focus on the advances in the field of biomimetics and robotics for the creation of artificial systems that can robustly interact with their environment, ranging from tactile sensing, grasping, and manipulation to the creation of psychologically plausible agents.
Collapse
Affiliation(s)
| | | | - Mehmet Dogar
- University of Leeds, School of Computing, Leeds LS2 9JT, United Kingdom
| | - Nathan Lepora
- Department of Engineering Mathematics, Faculty of Engineering, University of Bristol and Bristol Robotics Laboratory, Bristol, United Kingdom
| | - Claudio Zito
- Technology Innovation Institute (TII), Abu Dhabi, United Arab Emirates
| | - Uriel Martinez-Hernandez
- Department of Electronic and Electrical Engineering, Faculty of Engineering and Design, University of Bath, Bath, United Kingdom
| |
Collapse
|
5
|
Alakhawand N, Frier W, Lepora NF. Mapping Mid-Air Haptics With a Low-Cost Tactile Robot. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3186490] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Noor Alakhawand
- Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K
| | | | - Nathan F. Lepora
- Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K
| |
Collapse
|
6
|
Pestell N, Lepora NF. Artificial SA-I, RA-I and RA-II/vibrotactile afferents for tactile sensing of texture. J R Soc Interface 2022; 19:20210603. [PMID: 35382572 PMCID: PMC8984331 DOI: 10.1098/rsif.2021.0603] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Robot touch can benefit from how humans perceive tactile textural information, from the stimulation mode to which tactile channels respond, then the tactile cues and encoding. Using a soft biomimetic tactile sensor (the TacTip) based on the physiology of the dermal-epidermal boundary, we construct two biomimetic tactile channels based on slowly adapting SA-I and rapidly adapting RA-I afferents, and introduce an additional sub-modality for vibrotactile information with an embedded microphone interpreted as an artificial RA-II channel. These artificial tactile channels are stimulated dynamically with a set of 13 artificial rigid textures comprising raised-bump patterns on a rotating drum that vary systematically in roughness. Methods employing spatial, spatio-temporal and temporal codes are assessed for texture classification insensitive to stimulation speed. We find: (i) spatially encoded frictional cues provide a salient representation of texture; (ii) a simple transformation of spatial tactile features to model natural afferent responses improves the temporal coding; and (iii) the harmonic structure of induced vibrations provides a pertinent code for speed-invariant texture classification. Just as human touch relies on an interplay between slowly adapting (SA-I), rapidly adapting (RA-I) and vibrotactile (RA-II) channels, this tripartite structure may be needed for future robot applications with human-like dexterity, from prosthetics to materials testing, handling and manipulation.
Collapse
Affiliation(s)
- Nicholas Pestell
- Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol BS8 1QU, UK
| | - Nathan F Lepora
- Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol BS8 1QU, UK
| |
Collapse
|