Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise

Yerkebulan Massalim; Zhanat Kappassov

doi:10.1109/SII.2019.8700328

Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise

Yerkebulan Massalim, Zhanat Kappassov

School of Engineering and Digital Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

Through vibrations people can assess both slippage of the directly grasped object and sliding of an external agent over the surface of the grasped immovable object. In robotic hands, with less advanced tactile sensing, the slippage and sliding events can be hard to distinguish. This paper shows how vibro-tactile sensing array can help to distinguish object/world sliding and sensor/object slippage events based on cross-correlation, which computes similarity in sensor readings of tactile array cells. The proposed vibro-tactile system consists of two accelerometers. Experiments with different surfaces are conducted to test the system and the proposed algorithm.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	438-443
Number of pages	6
ISBN (Electronic)	9781538636152
DOIs	https://doi.org/10.1109/SII.2019.8700328
Publication status	Published - Apr 25 2019
Event	2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France Duration: Jan 14 2019 → Jan 16 2019

Publication series

Name	Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference	2019 IEEE/SICE International Symposium on System Integration, SII 2019
Country/Territory	France
City	Paris
Period	1/14/19 → 1/16/19

ASJC Scopus subject areas

Atomic and Molecular Physics, and Optics
Electrical and Electronic Engineering

Access to Document

10.1109/SII.2019.8700328

Cite this

Massalim, Y., & Kappassov, Z. (2019). Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 438-443). Article 8700328 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700328

Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise. / Massalim, Yerkebulan; Kappassov, Zhanat.
Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 438-443 8700328 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Massalim, Y & Kappassov, Z 2019, Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise. in Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700328, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 438-443, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 1/14/19. https://doi.org/10.1109/SII.2019.8700328

Massalim Y, Kappassov Z. Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 438-443. 8700328. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). doi: 10.1109/SII.2019.8700328

Massalim, Yerkebulan ; Kappassov, Zhanat. / Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 438-443 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

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abstract = "Through vibrations people can assess both slippage of the directly grasped object and sliding of an external agent over the surface of the grasped immovable object. In robotic hands, with less advanced tactile sensing, the slippage and sliding events can be hard to distinguish. This paper shows how vibro-tactile sensing array can help to distinguish object/world sliding and sensor/object slippage events based on cross-correlation, which computes similarity in sensor readings of tactile array cells. The proposed vibro-tactile system consists of two accelerometers. Experiments with different surfaces are conducted to test the system and the proposed algorithm.",

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Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise

Abstract

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