Associating SOM Representations of Haptic Submodalities

Magnus Johnsson, Christian Balkenius

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

Abstract

We have experimented with a bio-inspired selforganizing
texture and hardness perception system which
automatically learns to associate the representations of the two
submodalities with each other. To this end we have developed
a microphone based texture sensor and a hardness sensor that measures the compression of the material at a constant pressure. The system is based on a novel variant of the Self-Organizing Map (SOM), called Associative Self-Organizing Map (A-SOM). The A-SOM both develops a representation of its input space and learns to associate this with the activity in an external SOM or A-SOM. The system was trained and tested with multiple samples gained from the exploration of a set of 4 soft and 4 hard objects of different materials with varying textural properties. The system successfully found representations of the texture and hardness submodalities and also learned to associate these with each other.
Original languageEnglish
Title of host publicationProceedings of Towards Autonomous Robotic Systems 2008
Subtitle of host publicationThe University of Edinburgh. September 1 st – 3 rd 2008
EditorsSubramanian Ramamoorthy, Gillian M. Hayes
Place of PublicationEdinburgh
PublisherUniversity of Edinburgh
Pages124-129
Number of pages6
ISBN (Print)1906849005, 9781906849009
Publication statusPublished - 2008
EventTowards Autonomous Robotic Systems 2008 - University of Edinburgh, Edinburgh, United Kingdom
Duration: 2008 Sept 12008 Sept 3

Conference

ConferenceTowards Autonomous Robotic Systems 2008
Country/TerritoryUnited Kingdom
CityEdinburgh
Period2008/09/012008/09/03

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)

Fingerprint

Dive into the research topics of 'Associating SOM Representations of Haptic Submodalities'. Together they form a unique fingerprint.

Cite this