Z. Chen et al.: Exploring Tactile Perception for Object Localization in Granular Media: A Human and… скачать в хорошем качестве

Z. Chen et al.: Exploring Tactile Perception for Object Localization in Granular Media: A Human and…

   • 2025 IEEE ICDL Prague   — https://icdl2025.fel.cvut.cz — 2025 IEEE International Conference on Development and Learning (ICDL) Prague ●● ► Zhengqi Chen, Laura Crucianelli, Elisabetta Versace, Lorenzo Jamone: Exploring Tactile Perception for Object Localization in Granular Media: A Human and Robotic Study ●● Localizing buried objects in granular media, such as sand, poses a significant challenge in robotics, with limited insight into human tactile capabilities in these environments. This study presents a novel approach to tactile-based localization through: (1) a human study with 12 participants assessing fingertip sensitivity to tactile cues from buried objects, and (2) a robotic experiment using a tactile-equipped robotic arm and a Long Short-Term Memory (LSTM) model to detect object presence. Drawing from granular media particle interaction theory, we hypothesize tactile cues extend up to 7 cm. Human results confirm detection with 70.7% precision at a 6.9 cm distance (median 2.7 cm). Robotic results align, with the LSTM model detecting objects at 7.1 cm, though with a better median (6 cm) but lower precision (40%). This work enhances understanding of human tactile perception in granular media and introduces a robotic system to study human exploration strategies and enable autonomous applications in archaeology, space exploration, and search and rescue.