History of Robotics Research and Development of Japan1971SensingPattern Recognition by the Artificial-Tactile Sense

Gen-ichiro KinoshitaFaculty of Engineering, Chuo University
Kunikatsu TakaseElectrotechnical Laboratory
Masahiro MoriTokyo Institute of Technology
This paper proposes an artificial-tactile pattern recognition which is composed of the recognition by touching the object surface with the artificial-tactile sense and the recognition by grasping the object with the artificial-hand.The hint of this proposition was found in the function of the tactile sense of a human hand. The fundermental principle of the artificial-tactile pattern recognition is to process a stress distribution that the unknown object produces in the artificial-tactile sense elements. In the proposed method, the 3-dimensional stress distribution is partitioned into the 2-dimensional peripheral pattern and the threshold decrement by an analogy with the threshold phenomena in the living body. The object surface is recognized as a sequence of the peripheral processing at each threshold decrement. A simple experiment classifying cylinders and square pillars was performed by the artificial-hand with on-off switches instead of the presure sense elements. As the result, a high reliability of recognition is obtained.
Artificial Hand
Cylinder Gripping


Correspondence papers

Gen-ichiro Kinoshita, Kunikatsu Takase, and Masahiro Mori:Pattern Recognition by the Artificial -Tactile Sense

Transactions of the Society of Instrument and Control Engineers, Vol. 7, No. 1, pp. 25-30, 1971 (in Japanese).

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