Supplementary Material for "A Biomimetic Fingerprint for Robotic Tactile Sensing"

This page contains a dataset, CAD files and demonstration videos. The dataset comprises 156 Kinesthetic explorations of 52 objects performed with the robot hand RH8D. Each exploration comprises background noise and three sensor readings, left, centre and right microphones. Furthermore, the position and current of the motor are saved in an extra data frame.

The data set folder structure is as follows:

* Data

  + Object

    - Background

    - Kinesthetics

      ° Rubbing

        ·Left

          n.csv

        ·Center

          n.csv

        ·Right

          n.csv

        ·rubbing_position_current_n.csv

      ° Enclosure

        ·Left

          n.csv

        ·Center

          n.csv

        ·Right

          n.csv

        ·enclosure_position_current_n.csv

      ° Squeeze

        ·Left

          n.csv

        ·Center

          n.csv

        ·Right

          n.csv

        ·squeeze_position_current_n.csv

    - visual

      ° object_position_n.png

References:

Juiña Quilachamín, O. A., & Navarro-Guerrero, N. (2023). A Biomimetic Fingerprint for Robotic Tactile Sensing. International Symposium on Robotics (ISR Europe), 1–7.

Contact:
For information please see the paper. For specific questions regarding the paper please contact Nicolás Navarro-Guerrero.