Using a high spatial resolution tactile sensor for intention detection

Castellini C, Koiva R (2013)

Publication Type: Conference contribution

Publication year: 2013

Journal

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Institute of Electrical and Electronics Engineers Inc.

Conference Proceedings Title: IEEE International Conference on Rehabilitation Robotics

Event location: USA

ISBN: 9781467360241

DOI: 10.1109/ICORR.2013.6650365

Abstract

Intention detection is the interpretation of biological signals with the aim of automatically, reliably and naturally understanding what a human subject desires to do. Although intention detection is not restricted to disabled people, such methods can be crucial in improving a patient's life, e.g., aiding control of a robotic wheelchair or of a self-powered prosthesis. Traditionally, intention detection is done using, e.g., gaze tracking, surface electromyography and electroencephalography. In this paper we present exciting initial results of an experiment aimed at intention detection using a high-spatial-resolution, high-dynamic-range tactile sensor. The tactile image of the ventral side of the forearm of 9 able-bodied participants was recorded during a variable-force task stimulated at the fingertip. Both the forces at the fingertip and at the forearm were synchronously recorded. We show that a standard dimensionality reduction technique (Principal Component Analysis) plus a Support Vector Machine attain almost perfect detection accuracy of the direction and the intensity of the intended force. This paves the way for high spatial resolution tactile sensors to be used as a means for intention detection. © 2013 IEEE.

Authors with CRIS profile

Claudio Castellini

Involved external institutions

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) / German Aerospace Center DE Germany (DE) Universität Bielefeld DE Germany (DE)

How to cite

APA:

Castellini, C., & Koiva, R. (2013). Using a high spatial resolution tactile sensor for intention detection. In IEEE International Conference on Rehabilitation Robotics. USA.

MLA:

Castellini, Claudio, and Risto Koiva. "Using a high spatial resolution tactile sensor for intention detection." Proceedings of the 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013, USA 2013.

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