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The feedback of most manipulators is limited to pressure, it is difficult for manipulators to identify the other properties of the object by touch. A new manipulator method is designed in this paper. The tactile images are reflected by flexible tactile sensor in this manipulator system. A large number of tactile images are used to build training set by which the capsule network is trained to evaluate images. When an object is captured by a manipulator, and parameters such as shape, rigidity, weight and density of target objects are analyzed. Pseudo color transformation of tactile images is performed, in this way, the changes of each parameter of tactile signals can be observed visibly. It is innovative to process the tactile image by using capsule network and realize the evolutionary bionic tactile function.<\/jats:p>","DOI":"10.3233\/jifs-179302","type":"journal-article","created":{"date-parts":[[2019,7,2]],"date-time":"2019-07-02T10:43:00Z","timestamp":1562064180000},"page":"4677-4685","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Evolutionary bionic manipulator method based on capsule network"],"prefix":"10.1177","volume":"37","author":[{"given":"Yu","family":"Li","sequence":"first","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Kun","family":"Yuan","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Qian","family":"Cai","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Fengyuan","family":"Yu","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Chengfeng","family":"Cai","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Xiaoying","family":"Li","sequence":"additional","affiliation":[{"name":"China University of Geosciences, Wuhan, China"}]},{"given":"Pengfeng","family":"Liu","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Meiyu","family":"Qian","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Juan","family":"Yu","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Xiaomei","family":"Peng","sequence":"additional","affiliation":[{"name":"The Anqing Technology Transfer Center of Wuhan Textile University, Anqing, China"}]},{"given":"Hongguan","family":"Chen","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Runtian","family":"Qin","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Ziwei","family":"Wang","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Nanxi","family":"Huang","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Kongling","family":"Liu","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Wuhan, China"}]},{"given":"Zhi","family":"Cheng","sequence":"additional","affiliation":[{"name":"Wuhan University of Technology, Wuhan, China"}]}],"member":"179","published-online":{"date-parts":[[2019,7,2]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2251738"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911403178"},{"issue":"1","key":"e_1_3_2_4_2","first-page":"bhu294","article-title":"The Effect of Task Instruction on Haptic Texture Processing: The Neural Underpinning of Roughness and Spatial Density Perception.[J]","volume":"26","author":"Eck J.","year":"2014","unstructured":"EckJ., KaasA.L., MuldersJ.L., et al., The Effect of Task Instruction on Haptic Texture Processing: The Neural Underpinning of Roughness and Spatial Density Perception.[J], Cerebral Cortex 26(1) (2014), bhu294.","journal-title":"Cerebral Cortex"},{"key":"e_1_3_2_5_2","article-title":"Evaluation of Interactive Object Recognition with Tactile Sensing[J]","author":"Peters J.","year":"2015","unstructured":"PetersJ., Evaluation of Interactive Object Recognition with Tactile Sensing[J], Nucleic Acids Research (2015).","journal-title":"Nucleic Acids Research"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504015"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2013.2245402"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.6b08027"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.7b00396"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.01.003"},{"key":"e_1_3_2_11_2","doi-asserted-by":"crossref","unstructured":"Jia Yangqing Shelhamer et al. 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