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International Conference on Human Haptic Sensing and Touch Enabled Computer Applications

EuroHaptics 2012: Haptics: Perception, Devices, Mobility, and Communication pp 326–337Cite as

Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 7282))

Abstract

New robots for teleoperation and autonomous manipulation are increasingly being equipped with high-bandwidth accelerometers for measuring the transient vibrational cues that occur during contact with objects. Unfortunately, the robot’s own internal mechanisms often generate significant high-frequency accelerations, which we term ego-vibrations. This paper presents an approach to characterizing and removing these signals from acceleration measurements. We adapt the audio processing technique of spectral subtraction over short time windows to remove the noise that is estimated to occur at the robot’s present joint velocities. Implementation for the wrist roll and gripper joints on a Willow Garage PR2 robot demonstrates that spectral subtraction significantly increases signal-to-noise ratio, which should improve vibrotactile event detection in both teleoperation and autonomous robotics.

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Author information

Authors and Affiliations

  1. Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, USA

    William McMahan & Katherine J. Kuchenbecker

Authors
  1. William McMahan
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  2. Katherine J. Kuchenbecker
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Editor information

Editors and Affiliations

  1. School of Information Science, University of Tampere, 33014, Tampere, Finland

    Poika Isokoski  & Jukka Springare  & 

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© 2012 Springer-Verlag Berlin Heidelberg

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McMahan, W., Kuchenbecker, K.J. (2012). Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals. In: Isokoski, P., Springare, J. (eds) Haptics: Perception, Devices, Mobility, and Communication. EuroHaptics 2012. Lecture Notes in Computer Science, vol 7282. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31401-8_30

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  • DOI: https://doi.org/10.1007/978-3-642-31401-8_30

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31400-1

  • Online ISBN: 978-3-642-31401-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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