2022
DOI: 10.3389/fnbot.2022.808222
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Fabric Classification Using a Finger-Shaped Tactile Sensor via Robotic Sliding

Abstract: Tactile sensing endows the robots to perceive certain physical properties of the object in contact. Robots with tactile perception can classify textures by touching. Interestingly, textures of fine micro-geometry beyond the nominal resolution of the tactile sensors can also be identified through exploratory robotic movements like sliding. To study the problem of fine texture classification, we design a robotic sliding experiment using a finger-shaped multi-channel capacitive tactile sensor. A feature extractio… Show more

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Cited by 10 publications
(8 citation statements)
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“…Some proposals overcome the human performance in discriminating different textures [16], but it could not be necessary to implement artificial hands unless they are focused on some specialized tasks. The authors in [22] say that very few frequency features suffice to represent the textures, while the work in [23] and this paper show the same since the classification accuracy is high even when the extracted features are a few. Therefore, the feature extraction algorithm could be simplified.…”
Section: B Resource Consumptionmentioning
confidence: 54%
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“…Some proposals overcome the human performance in discriminating different textures [16], but it could not be necessary to implement artificial hands unless they are focused on some specialized tasks. The authors in [22] say that very few frequency features suffice to represent the textures, while the work in [23] and this paper show the same since the classification accuracy is high even when the extracted features are a few. Therefore, the feature extraction algorithm could be simplified.…”
Section: B Resource Consumptionmentioning
confidence: 54%
“…Nevertheless, the comparison with other proposals is not easy, since it depends on many aspects. Firstly, the performance depends on the sensor technology, because the registered data is produced by the interaction between the sensor and the textures, the contact pressure, and the sort of exploratory actions [22]. Moreover, the size and nature of the set of textures to test the performance also influence the results.…”
Section: B Resource Consumptionmentioning
confidence: 99%
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