Vibrotactile Recognition and Categorization of Surfaces by a Humanoid Robot

  title={Vibrotactile Recognition and Categorization of Surfaces by a Humanoid Robot},
  author={Jivko Sinapov and Vladimir Sukhoy and Ritika Sahai and Alexander Stoytchev},
  journal={IEEE Transactions on Robotics},
This paper proposes a method for interactive surface recognition and surface categorization by a humanoid robot using a vibrotactile sensory modality. The robot was equipped with an artificial fingernail that had a built-in three-axis accelerometer. The robot interacted with 20 different surfaces by performing five different exploratory scratching behaviors on them. Surface-recognition models were learned by coupling frequency-domain analysis of the vibrations detected by the accelerometer with… CONTINUE READING
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