Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer

Eniko T. Enikov, Phillip Vidinski

2017

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.

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Paper Citation


in Harvard Style

Enikov E. and Vidinski P. (2017). Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 192-198. DOI: 10.5220/0006481301920198


in Bibtex Style

@conference{icinco17,
author={Eniko T. Enikov and Phillip Vidinski},
title={Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={192-198},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006481301920198},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer
SN - 978-989-758-264-6
AU - Enikov E.
AU - Vidinski P.
PY - 2017
SP - 192
EP - 198
DO - 10.5220/0006481301920198