Application of Charge Detection to Dynamic Contact Sensing
The manipulation contact forces convey substantial information about the manipulation state. This paper address the fundamental problem of interpreting the force signals without any additional manipulation context. Techniques based on forms of the generalized sequential likelihood ratio test a...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5950 |
| _version_ | 1826188154095271936 |
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| author | Eberman, Brian Salisbury, S. Kenneth |
| author_facet | Eberman, Brian Salisbury, S. Kenneth |
| author_sort | Eberman, Brian |
| collection | MIT |
| description | The manipulation contact forces convey substantial information about the manipulation state. This paper address the fundamental problem of interpreting the force signals without any additional manipulation context. Techniques based on forms of the generalized sequential likelihood ratio test are used to segment individual strain signals into statistically equivalent pieces. We report on our experimental development of the segmentation algorithm and on its results for contact states. The sequential likelihood ratio test is reviewed and some of its special cases and optimal properties are discussed. Finally, we conclude by discussing extensions to the techniques and a contact interpretation framework. |
| first_indexed | 2024-09-23T07:55:23Z |
| id | mit-1721.1/5950 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T07:55:23Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/59502019-04-09T15:32:38Z Application of Charge Detection to Dynamic Contact Sensing Eberman, Brian Salisbury, S. Kenneth tactile sensing change detection haptic sensing failuresdetection The manipulation contact forces convey substantial information about the manipulation state. This paper address the fundamental problem of interpreting the force signals without any additional manipulation context. Techniques based on forms of the generalized sequential likelihood ratio test are used to segment individual strain signals into statistically equivalent pieces. We report on our experimental development of the segmentation algorithm and on its results for contact states. The sequential likelihood ratio test is reviewed and some of its special cases and optimal properties are discussed. Finally, we conclude by discussing extensions to the techniques and a contact interpretation framework. 2004-10-04T14:15:56Z 2004-10-04T14:15:56Z 1993-03-01 AIM-1421 http://hdl.handle.net/1721.1/5950 en_US AIM-1421 20 p. 293410 bytes 1101065 bytes application/octet-stream application/pdf application/octet-stream application/pdf |
| spellingShingle | tactile sensing change detection haptic sensing failuresdetection Eberman, Brian Salisbury, S. Kenneth Application of Charge Detection to Dynamic Contact Sensing |
| title | Application of Charge Detection to Dynamic Contact Sensing |
| title_full | Application of Charge Detection to Dynamic Contact Sensing |
| title_fullStr | Application of Charge Detection to Dynamic Contact Sensing |
| title_full_unstemmed | Application of Charge Detection to Dynamic Contact Sensing |
| title_short | Application of Charge Detection to Dynamic Contact Sensing |
| title_sort | application of charge detection to dynamic contact sensing |
| topic | tactile sensing change detection haptic sensing failuresdetection |
| url | http://hdl.handle.net/1721.1/5950 |
| work_keys_str_mv | AT ebermanbrian applicationofchargedetectiontodynamiccontactsensing AT salisburyskenneth applicationofchargedetectiontodynamiccontactsensing |