Morphological computation in haptic sensation and interaction: from nature to robotics

TY - JOUR

T1 - Morphological computation in haptic sensation and interaction

T2 - from nature to robotics

AU - Bernth, Julius E.

AU - Anh Ho, Van

AU - Liu, Hongbin

PY - 2018/3

Y1 - 2018/3

N2 - Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots. Tasks involving unstructured or changing environments can significantly benefit from haptic sensation. The requirements of such sensing systems can be complex, however. Many designers have succeeded in using the morphological properties of the sensors themselves, such as geometry or material properties, to replicate or replace the functions of traditional computer control, reducing the burden on the central controller. This concept is generally referred to as morphological computation or embodied intelligence in the literature. This review will investigate the role morphological computation has played in haptic sensing and discuss potential future avenues of research. In the review, the concept of morphological computation will first be more rigorously defined. This is followed by an investigation into how nature has solved the problem of touch and a discussion of how such morphological principles could inspire design of similar systems in robotics. The state of haptic systems for display, sensing and interaction that utilise morphological computation is then surveyed. Finally, approaches to future research on morphological computation in haptics are discussed as well as some of the major challenges in this field.

AB - Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots. Tasks involving unstructured or changing environments can significantly benefit from haptic sensation. The requirements of such sensing systems can be complex, however. Many designers have succeeded in using the morphological properties of the sensors themselves, such as geometry or material properties, to replicate or replace the functions of traditional computer control, reducing the burden on the central controller. This concept is generally referred to as morphological computation or embodied intelligence in the literature. This review will investigate the role morphological computation has played in haptic sensing and discuss potential future avenues of research. In the review, the concept of morphological computation will first be more rigorously defined. This is followed by an investigation into how nature has solved the problem of touch and a discussion of how such morphological principles could inspire design of similar systems in robotics. The state of haptic systems for display, sensing and interaction that utilise morphological computation is then surveyed. Finally, approaches to future research on morphological computation in haptics are discussed as well as some of the major challenges in this field.

U2 - 10.1080/01691864.2018.1447393

DO - 10.1080/01691864.2018.1447393

M3 - Article

SN - 0169-1864

VL - 32

SP - 340

EP - 362

JO - Advanced Robotics

JF - Advanced Robotics

IS - 7

ER -