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dc.contributor.authorChan, Yukyuen_US
dc.contributor.authorYu, Hungchenen_US
dc.contributor.authorKhurshid, Rebecca P.en_US
dc.date.accessioned2020-05-07T18:16:01Z
dc.date.available2020-05-07T18:16:01Z
dc.date.issued2019-07
dc.identifier.citationYukyu Chan, Hungchen Yu, Rebecca P Khurshid. 2019. "Effects of Force-Torque and Tactile Haptic Modalities on Classifying the Success of Robot Manipulation Tasks." 2019 IEEE World Haptics Conference (WHC). 2019 IEEE World Haptics Conference (WHC). 2019-07-09 - 2019-07-12. https://doi.org/10.1109/whc.2019.8816131
dc.identifier.urihttps://hdl.handle.net/2144/40686
dc.description.abstractWe investigate which haptic sensing modalities, or combination of haptic sensing modalities, best enable a robot to determine whether it successfully completed a manipulation task. In this paper, we consider haptic sensing modalities obtained from a wrist-mounted force-torque sensor and three types of fingertip sensors: a pair of FlexiForce force-sensing resistors, a pair of NumaTac sensors, and a pair of BioTac sensors. For each type of fingertip sensor, we simultaneously record force-torque and fingertip tactile data as the robot attempted to complete two manipulation tasks-a picking task and a scooping task-two-hundred times each. We leverage the resulting dataset to train and test a classification method using forty-one different haptic feature combinations, obtained from exhaustive combinations of individual modalities of the force-torque sensor and fingertip sensors. Our results show that the classification method's ability to distinguish between successful and unsuccessful task attempts depends on both the type of manipulation task and the subset of haptic modalities used to train and test the classification method.en_US
dc.language.isoen_US
dc.publisherIEEEen_US
dc.relation.ispartof2019 IEEE World Haptics Conference (WHC)
dc.subjectRobot sensing systemsen_US
dc.subjectTask analysisen_US
dc.subjectHaptic interfacesen_US
dc.subjectBiosensorsen_US
dc.subjectHidden Markov modelsen_US
dc.subjectPicture archiving and communication systemsen_US
dc.titleEffects of force-torque and tactile haptic modalities on classifying the success of robot manipulation tasksen_US
dc.typeConference materialsen_US
dc.description.versionAccepted manuscripten_US
dc.identifier.doi10.1109/whc.2019.8816131
pubs.elements-sourcecrossrefen_US
pubs.notesEmbargo: No embargoen_US
pubs.organisational-groupBoston Universityen_US
pubs.organisational-groupBoston University, College of Engineeringen_US
pubs.organisational-groupBoston University, College of Engineering, Department of Mechanical Engineeringen_US
pubs.publication-statusPublisheden_US
dc.identifier.mycv536517


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