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Open AccessArticle

Deep Vibro-Tactile Perception for Simultaneous Texture Identification, Slip Detection, and Speed Estimation

Department of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan 010000, Kazakhstan
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Sensors 2020, 20(15), 4121; https://doi.org/10.3390/s20154121
Received: 17 June 2020 / Revised: 8 July 2020 / Accepted: 9 July 2020 / Published: 25 July 2020
(This article belongs to the Section Sensors and Robotics)
Autonomous dexterous manipulation relies on the ability to recognize an object and detect its slippage. Dynamic tactile signals are important for object recognition and slip detection. An object can be identified based on the acquired signals generated at contact points during tactile interaction. The use of vibrotactile sensors can increase the accuracy of texture recognition and preempt the slippage of a grasped object. In this work, we present a Deep Learning (DL) based method for the simultaneous texture recognition and slip detection. The method detects non-slip and slip events, the velocity, and discriminate textures—all within 17 ms. We evaluate the method for three objects grasped using an industrial gripper with accelerometers installed on its fingertips. A comparative analysis of convolutional neural networks (CNNs), feed-forward neural networks, and long short-term memory networks confirmed that deep CNNs have a higher generalization accuracy. We also evaluated the performance of the highest accuracy method for different signal bandwidths, which showed that a bandwidth of 125 Hz is enough to classify textures with 80% accuracy. View Full-Text
Keywords: tactile sensing; slip detection; texture identification; deep learning; convolutional neural networks; long short-term memory; accelerometers tactile sensing; slip detection; texture identification; deep learning; convolutional neural networks; long short-term memory; accelerometers
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MDPI and ACS Style

Massalim, Y.; Kappassov, Z.; Varol, H.A. Deep Vibro-Tactile Perception for Simultaneous Texture Identification, Slip Detection, and Speed Estimation. Sensors 2020, 20, 4121. https://doi.org/10.3390/s20154121

AMA Style

Massalim Y, Kappassov Z, Varol HA. Deep Vibro-Tactile Perception for Simultaneous Texture Identification, Slip Detection, and Speed Estimation. Sensors. 2020; 20(15):4121. https://doi.org/10.3390/s20154121

Chicago/Turabian Style

Massalim, Yerkebulan; Kappassov, Zhanat; Varol, Huseyin A. 2020. "Deep Vibro-Tactile Perception for Simultaneous Texture Identification, Slip Detection, and Speed Estimation" Sensors 20, no. 15: 4121. https://doi.org/10.3390/s20154121

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