Slip interface classification through tactile signal coherence
2013
The manipulation of objects in a hand or gripper is typically accompanied by events such as slippage, between the fingers and a grasped object or between the object and external surfaces. Humans can identify such events using a combination of superficial and deep mechanoreceptors. In robotic hands, with more limited tactile sensing, such events can be hard to distinguish. This paper presents a signal processing method that can help to distinguish finger/object and object/world events based on multidimensional coherence, which measures whether a group of signals are sampling a single input or a group of incoherent inputs. A simple linear model of the fingertip/object interaction demonstrates how signal coherence can be used for slip classification. The method is evaluated through controlled experiments that produce similar results for two very different tactile sensing suites.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
22
References
14
Citations
NaN
KQI