Tactile Retina for Slip Detection

Abstract

The interest in tactile sensors is increasing as their use in complex unstructured environments is demanded, like in telepresence, minimal invasive surgery, robotics etc. The array of pressure data provided by these devices can be treated with different image processing algorithms to extract the required information. However, as in the case of vision chips or artificial retinas, problems arise when the array size and the computation complexity increase. Having a look at the skin, the information collected by every mechanoreceptor is not sent to the brain for its processing, but some complex pre-processing is performed to fit the limited throughput of the nervous system. This is specially important for high bandwidth demanding tasks. Experimental works report that neural response of skin mechanoreceptors encodes the change in local shape from an offset level rather than the absolute force or pressure distributions. Something similar happens in the retina, which implements a spatio-temporal averaging. We propose the same strategy in tactile preprocessing, and we show preliminary results illustrated for the case of slip detection, which is certainly demanding in computing requirements