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SmartHand: Towards embedded smart hands for prosthetic and robotic applications
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2021 (English)In: 2021 IEEE Sensors Applications Symposium, SAS 2021 - Proceedings, Institute of Electrical and Electronics Engineers Inc. , 2021Conference paper, Published paper (Refereed)
Abstract [en]

The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined tactile feedback from their end-effectors, leading to counterintuitive and complex control strategies. To address this lack, tactile sensors have been designed and developed, but they are either expensive and not scalable or offer an insufficient spatial and temporal resolution. This paper focuses on overcoming these issues by designing a smart embedded system, called SmartHand, enabling the acquisition and real-time processing of high-resolution tactile information from a hand-shaped multi-sensor array for prosthetic and robotic applications. We acquire a new tactile dataset consisting of 340,000 frames while interacting with 16 objects from everyday life and the empty hand, i.e., a total of 17 classes. The design of the embedded system minimizes response latency in classification, by deploying a small yet accurate convolutional neural network on a high-performance ARM Cortex-M7 microcontroller. Compared to related work, our model requires one order of magnitude less memory and 15.6× fewer computations while achieving similar inter-session accuracy and up to 98.86% and 99.83% top-1 and top-3 cross-validation accuracy, respectively. Experimental results of the designed prototype show a total power consumption of 505 mW and a latency of only 100 ms. © 2021 IEEE.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2021.
Keywords [en]
Agricultural robots, Convolutional neural networks, Embedded systems, End effectors, Robotics, Tactile sensors, Arbitrary objects, Complex control, Embedded-system, Human hands, Prosthetic devices, Prosthetics application, Robotic devices, Robotics applications, Sense of touch, Tactile feedback, Prosthetics
Identifiers
URN: urn:nbn:se:miun:diva-43349DOI: 10.1109/SAS51076.2021.9530050Scopus ID: 2-s2.0-85116105336ISBN: 9781728194318 (print)OAI: oai:DiVA.org:miun-43349DiVA, id: diva2:1602301
Conference
2021 IEEE Sensors Applications Symposium, SAS 2021, 23 August 2021 through 25 August 2021
Available from: 2021-10-12 Created: 2021-10-12 Last updated: 2021-10-12Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf