Application of sensory body schemas to the orientation control of hand-held tactile tonometer

Eniko T. Enikov, Phillip Vidinski

Research output: ResearchConference contribution

Abstract

Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. This paper describes the development of closed-loop control of spherical parallel mechanism based on self-learning body schemas. More specifically, we demonstrate how a complex parallel spherical manipulator in contact with a surface of irregular geometry can be driven to a configuration of balanced contact forces, i.e. aligned with respect to the irregular surface. The approach uses a pseudo-potential functions and a gradient-based maximum seeking algorithm to drive the manipulator to the desired position. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the manipulator's rotary degrees of freedom and the output contact forces. Numerical and experimental results are presented illustrating the performance of the control scheme. A motivating application of the proposed manipulator and its control algorithm is a hand-held eye tonometer based on tactile force measurements. The resulting controller has been shown to achieve 10 mN of force errors which are adequate for tactile tonometers.

LanguageEnglish (US)
Title of host publicationICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
PublisherSciTePress
Pages192-198
Number of pages7
Volume2
ISBN (Electronic)9789897582646
StatePublished - 2017
Event14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 - Madrid, Spain
Duration: Jul 26 2017Jul 28 2017

Other

Other14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017
CountrySpain
CityMadrid
Period7/26/177/28/17

Fingerprint

Manipulators
Force measurement
Learning algorithms
Plasticity
Brain
Animals
Neural networks
Controllers
Geometry
Gases

Keywords

  • Artificial neural network
  • Body schema
  • Cognitive robotics
  • Spherical parallel mechanism

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

Cite this

Enikov, E. T., & Vidinski, P. (2017). Application of sensory body schemas to the orientation control of hand-held tactile tonometer. In ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (Vol. 2, pp. 192-198). SciTePress.

Application of sensory body schemas to the orientation control of hand-held tactile tonometer. / Enikov, Eniko T.; Vidinski, Phillip.

ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. Vol. 2 SciTePress, 2017. p. 192-198.

Research output: ResearchConference contribution

Enikov, ET & Vidinski, P 2017, Application of sensory body schemas to the orientation control of hand-held tactile tonometer. in ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. vol. 2, SciTePress, pp. 192-198, 14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017, Madrid, Spain, 7/26/17.
Enikov ET, Vidinski P. Application of sensory body schemas to the orientation control of hand-held tactile tonometer. In ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. Vol. 2. SciTePress. 2017. p. 192-198.
Enikov, Eniko T. ; Vidinski, Phillip. / Application of sensory body schemas to the orientation control of hand-held tactile tonometer. ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. Vol. 2 SciTePress, 2017. pp. 192-198
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