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.

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