Tesi etd-10192024-192156
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Tipo di tesi
Corso Ordinario Secondo Livello
Autore
SINGUAROLI, MARTINO
URN
etd-10192024-192156
Titolo
Neuromorphic Tactile Sensing and Haptic Display Enable Fine Distributed Cutaneous Feedback in Telepresence
Struttura
Classe Scienze Sperimentali
Corso di studi
INGEGNERIA - INGEGNERIA
Commissione
Tutor Prof. DE SIMONE, ANTONIO
Relatore Prof. ODDO, CALOGERO MARIA
Relatore Prof. LEONARDIS, DANIELE
Presidente Prof.ssa BOGONI, ANTONELLA
Membro Dott.ssa CREA, SIMONA
Membro Prof. ABENI, LUCA
Membro Prof. ANDREUSSI, TOMMASO
Membro Prof. AVIZZANO, CARLO ALBERTO
Membro Prof. MICERA, SILVESTRO
Membro Prof. RICOTTI, LEONARDO
Relatore Prof. ODDO, CALOGERO MARIA
Relatore Prof. LEONARDIS, DANIELE
Presidente Prof.ssa BOGONI, ANTONELLA
Membro Dott.ssa CREA, SIMONA
Membro Prof. ABENI, LUCA
Membro Prof. ANDREUSSI, TOMMASO
Membro Prof. AVIZZANO, CARLO ALBERTO
Membro Prof. MICERA, SILVESTRO
Membro Prof. RICOTTI, LEONARDO
Parole chiave
- Advanced Robotics
- Neural Networks
- Neuromorphic Engineering
- Psychophysics
- Somatosensory System
- Tactile Display
- Teleoperation
- Telepresence
- Wearable Haptics
Data inizio appello
09/12/2024;
Disponibilità
parziale
Riassunto analitico
Encompassing the sense of touch is still an unmet need in the advanced robotics and teleoperation framework. This work presents an Integrated Neuromorphic Tactile-Haptic Interface System (INTHIS) enabling a human operator to perceive tactile feedback over the upper limb skin in response to the real-time distributed tactile stimulation of a remote robotic arm. The INTHIS sensing interface consists of a Spiking Neural Network, whose bioinspiration strategy guarantees the real-time transmission of the location and extension of tactile stimuli, with low in-formation throughput and a localization RMSE of 16 mm. The INTHIS actuation interface presents a novel wearable Forearm Haptic Display, which introduces a matrix of 23 miniaturized actuation units to render complex neuromorphic tactile stimulations while maximizing the transparency of the apparatus, for which 96% of experimental trials of random unit stimulation ended with recognition of the stimulus location by the tested subjects. When evaluated in its entirety, the system demonstrated the capability to build an effective real-time tactile link between the e-skin and the human skin, paving the way for tactile telepresence and bidirectional robotic applications in a variety of scenarios.
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