Document Detail


A closed-loop neurobotic system for fine touch sensing.
MedLine Citation:
PMID:  23883543     Owner:  NLM     Status:  In-Data-Review    
Abstract/OtherAbstract:
Objective. Fine touch sensing relies on peripheral-to-central neurotransmission of somesthetic percepts, as well as on active motion policies shaping tactile exploration. This paper presents a novel neuroengineering framework for robotic applications based on the multistage processing of fine tactile information in the closed action-perception loop. Approach. The integrated system modules focus on (i) neural coding principles of spatiotemporal spiking patterns at the periphery of the somatosensory pathway, (ii) probabilistic decoding mechanisms mediating cortical-like tactile recognition and (iii) decision-making and low-level motor adaptation underlying active touch sensing. We probed the resulting neural architecture through a Braille reading task. Main results. Our results on the peripheral encoding of primary contact features are consistent with experimental data on human slow-adapting type I mechanoreceptors. They also suggest second-order processing by cuneate neurons may resolve perceptual ambiguities, contributing to a fast and highly performing online discrimination of Braille inputs by a downstream probabilistic decoder. The implemented multilevel adaptive control provides robustness to motion inaccuracy, while making the number of finger accelerations covariate with Braille character complexity. The resulting modulation of fingertip kinematics is coherent with that observed in human Braille readers. Significance. This work provides a basis for the design and implementation of modular neuromimetic systems for fine touch discrimination in robotics.
Authors:
L L Bologna; J Pinoteau; J-B Passot; J A Garrido; J Vogel; E Ros Vidal; A Arleo
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Publication Detail:
Type:  Journal Article     Date:  2013-07-24
Journal Detail:
Title:  Journal of neural engineering     Volume:  10     ISSN:  1741-2552     ISO Abbreviation:  J Neural Eng     Publication Date:  2013 Aug 
Date Detail:
Created Date:  2013-07-29     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101217933     Medline TA:  J Neural Eng     Country:  England    
Other Details:
Languages:  eng     Pagination:  046019     Citation Subset:  IM    
Affiliation:
Adaptive Neuro Computation Group, Unit of Neurobiology of Adaptive Processes, UMR 7102, CNRS-University Pierre and Marie Curie P6, F-75005 Paris, France.
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