Robotic learning of haptic adjectives through physical interaction
To perform useful tasks in everyday human environments, robots must be able to both understand and communicate the sensations they experience during haptic interactions with objects. Toward this goal, we augmented the Willow Garage PR2 robot with a pair of SynTouch BioTac sensors to capture rich tac...
Saved in:
| Published in | Robotics and autonomous systems Vol. 63; pp. 279 - 292 |
|---|---|
| Main Authors | , , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.01.2015
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-8890 1872-793X |
| DOI | 10.1016/j.robot.2014.09.021 |
Cover
| Abstract | To perform useful tasks in everyday human environments, robots must be able to both understand and communicate the sensations they experience during haptic interactions with objects. Toward this goal, we augmented the Willow Garage PR2 robot with a pair of SynTouch BioTac sensors to capture rich tactile signals during the execution of four exploratory procedures on 60 household objects. In a parallel experiment, human subjects blindly touched the same objects and selected binary haptic adjectives from a predetermined set of 25 labels. We developed several machine-learning algorithms to discover the meaning of each adjective from the robot’s sensory data. The most successful algorithms were those that intelligently combine static and dynamic components of the data recorded during all four exploratory procedures. The best of our approaches produced an average adjective classification F1 score of 0.77, a score higher than that of an average human subject.
•We equipped a PR2 robot with a pair of BioTac tactile sensors.•Both the robot and human subjects blindly touched sixty diverse objects.•We calculated static and dynamic features from the haptic data felt by the robot.•A multi-kernel SVM was used to learn the meaning of twenty-five haptic adjectives.•The robot performed as well as the average human subject at labeling objects. |
|---|---|
| AbstractList | To perform useful tasks in everyday human environments, robots must be able to both understand and communicate the sensations they experience during haptic interactions with objects. Toward this goal, we augmented the Willow Garage PR2 robot with a pair of SynTouch BioTac sensors to capture rich tactile signals during the execution of four exploratory procedures on 60 household objects. In a parallel experiment, human subjects blindly touched the same objects and selected binary haptic adjectives from a predetermined set of 25 labels. We developed several machine-learning algorithms to discover the meaning of each adjective from the robot's sensory data. The most successful algorithms were those that intelligently combine static and dynamic components of the data recorded during all four exploratory procedures. The best of our approaches produced an average adjective classification score of 0.77, a score higher than that of an average human subject. To perform useful tasks in everyday human environments, robots must be able to both understand and communicate the sensations they experience during haptic interactions with objects. Toward this goal, we augmented the Willow Garage PR2 robot with a pair of SynTouch BioTac sensors to capture rich tactile signals during the execution of four exploratory procedures on 60 household objects. In a parallel experiment, human subjects blindly touched the same objects and selected binary haptic adjectives from a predetermined set of 25 labels. We developed several machine-learning algorithms to discover the meaning of each adjective from the robot’s sensory data. The most successful algorithms were those that intelligently combine static and dynamic components of the data recorded during all four exploratory procedures. The best of our approaches produced an average adjective classification F1 score of 0.77, a score higher than that of an average human subject. •We equipped a PR2 robot with a pair of BioTac tactile sensors.•Both the robot and human subjects blindly touched sixty diverse objects.•We calculated static and dynamic features from the haptic data felt by the robot.•A multi-kernel SVM was used to learn the meaning of twenty-five haptic adjectives.•The robot performed as well as the average human subject at labeling objects. |
| Author | He, Qin Chu, Vivian McMahon, Ian Arrigo, Michael Riano, Lorenzo McDonald, Craig G. Martinez Perez-Tejada, Jorge Darrell, Trevor Kuchenbecker, Katherine J. |
| Author_xml | – sequence: 1 givenname: Vivian surname: Chu fullname: Chu, Vivian organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 2 givenname: Ian surname: McMahon fullname: McMahon, Ian organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 3 givenname: Lorenzo surname: Riano fullname: Riano, Lorenzo organization: Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, United States – sequence: 4 givenname: Craig G. surname: McDonald fullname: McDonald, Craig G. organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 5 givenname: Qin surname: He fullname: He, Qin organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 6 givenname: Jorge surname: Martinez Perez-Tejada fullname: Martinez Perez-Tejada, Jorge organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 7 givenname: Michael surname: Arrigo fullname: Arrigo, Michael organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States – sequence: 8 givenname: Trevor surname: Darrell fullname: Darrell, Trevor organization: Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, United States – sequence: 9 givenname: Katherine J. surname: Kuchenbecker fullname: Kuchenbecker, Katherine J. email: kuchenbe@seas.upenn.edu organization: Haptics Group, GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, United States |
| BookMark | eNqFkD1PwzAQhi1UJNrCL2DJyJJwdtI4Hhig4kuqhIRAYrMc59I4SuNiu5X670koEwNMJ733PqfTMyOT3vZIyCWFhALNr9vE2dKGhAHNEhAJMHpCprTgLOYi_ZiQKQhG46IQcEZm3rcAkC54OiV3ryNodNShcr3p15Gto0Ztx0hVLepg9uij0Di7WzfRtjl4o1UXmT6gU8PW9ufktFadx4ufOSfvD_dvy6d49fL4vLxdxToDFmKqNapMUMEqLso8RYYlIPCqBhR5plWVaRAllJylLIOaMY6cCqwWGRS5FumcXB3vbp393KEPcmO8xq5TPdqdlzTPRbEQgvOhKo5V7az3DmupTVDjs8Ep00kKcvQmW_ntTY7eJAg5eBvY9Be7dWaj3OEf6uZI4WBgb9BJrw32GivjBomysuZP_gvoFItm |
| CitedBy_id | crossref_primary_10_1109_TCDS_2018_2819826 crossref_primary_10_1016_j_robot_2023_104414 crossref_primary_10_3389_fnins_2022_1070645 crossref_primary_10_1007_s11071_025_10930_w crossref_primary_10_1109_TASE_2023_3296569 crossref_primary_10_1109_TMRB_2022_3215749 crossref_primary_10_1109_TOH_2016_2558180 crossref_primary_10_26599_BSA_2018_9050004 crossref_primary_10_3389_fnbot_2019_00073 crossref_primary_10_1109_TII_2020_2971643 crossref_primary_10_1109_TOH_2020_3001586 crossref_primary_10_3390_electronics9071152 crossref_primary_10_1016_j_robot_2018_03_002 crossref_primary_10_1007_s10514_023_10091_y crossref_primary_10_1016_j_neunet_2023_12_042 crossref_primary_10_1016_j_procir_2017_03_126 crossref_primary_10_1109_TOH_2023_3267523 crossref_primary_10_1016_j_robot_2024_104688 crossref_primary_10_1109_TCYB_2016_2614809 crossref_primary_10_1145_3654768_3654769 crossref_primary_10_1146_annurev_control_060117_105043 crossref_primary_10_1177_1729881417717056 crossref_primary_10_3390_s20041050 crossref_primary_10_1109_TIM_2021_3096858 crossref_primary_10_1109_LRA_2018_2810956 crossref_primary_10_1109_TII_2019_2898264 crossref_primary_10_1109_TMECH_2017_2775208 crossref_primary_10_1016_j_dib_2024_110836 crossref_primary_10_1109_TASE_2021_3065991 crossref_primary_10_1002_cpe_4908 crossref_primary_10_1109_TOH_2021_3089990 crossref_primary_10_1177_0278364920917755 crossref_primary_10_1109_TIE_2022_3170631 crossref_primary_10_1109_ACCESS_2022_3174874 crossref_primary_10_1109_TASE_2019_2941230 crossref_primary_10_1109_TRO_2017_2721939 crossref_primary_10_1109_TSMC_2018_2818184 crossref_primary_10_3390_s22051908 crossref_primary_10_1063_5_0016485 crossref_primary_10_1007_s11432_021_3512_6 crossref_primary_10_1142_S0219843617500244 crossref_primary_10_1371_journal_pone_0226880 crossref_primary_10_1109_TOH_2023_3269086 crossref_primary_10_1016_j_robot_2024_104674 crossref_primary_10_1109_TASE_2017_2692271 crossref_primary_10_1109_TRO_2018_2830364 crossref_primary_10_1002_aisy_202200371 crossref_primary_10_1016_j_rcim_2024_102792 crossref_primary_10_1109_TSMC_2016_2635141 crossref_primary_10_1038_s41598_023_38929_6 crossref_primary_10_1007_s10514_023_10099_4 crossref_primary_10_1109_ACCESS_2023_3344155 crossref_primary_10_3389_fnbot_2019_00116 crossref_primary_10_1016_j_inffus_2022_11_032 crossref_primary_10_1007_s10489_022_03181_4 crossref_primary_10_1007_s12559_023_10141_8 crossref_primary_10_1177_17298806231191947 crossref_primary_10_1109_LRA_2021_3119393 crossref_primary_10_1109_LRA_2019_2894592 crossref_primary_10_1109_TOH_2019_2952118 crossref_primary_10_1109_TOH_2023_3276812 |
| Cites_doi | 10.1038/nrn2621 10.1109/ROBOT.1997.619334 10.1109/IROS.2009.5354648 10.1109/TRO.2011.2162271 10.3758/BF03212154 10.1109/MRA.2007.339604 10.1109/TRO.2011.2127130 10.3758/BF03213075 10.1109/ROBOT.2010.5509553 10.1016/S0148-2963(01)00278-8 10.1152/jn.1996.75.5.1963 10.1109/5.18626 10.3758/BF03211351 10.1109/TRO.2011.2134130 10.1109/TIT.1982.1056489 10.1109/TRO.2011.2116930 10.1109/ICHR.2006.321318 10.1016/0001-6918(93)90070-8 10.1016/j.actpsy.2003.08.001 10.1109/TAMD.2011.2157504 10.1023/A:1009715923555 10.1109/ROBIO.2009.5420611 10.1016/j.robot.2011.07.009 10.1243/09544119JEIM658 10.1109/ICRA.2013.6631000 10.1109/ROBOT.2005.1570719 10.1109/FSKD.2008.571 10.3389/fnbot.2012.00004 |
| ContentType | Journal Article |
| Copyright | 2014 Elsevier B.V. |
| Copyright_xml | – notice: 2014 Elsevier B.V. |
| DBID | AAYXX CITATION 7SC 7SP 7TA 7TB 8FD FR3 H8D JG9 JQ2 L7M L~C L~D |
| DOI | 10.1016/j.robot.2014.09.021 |
| DatabaseName | CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Materials Business File Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database Aerospace Database Materials Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Materials Research Database Aerospace Database Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Materials Business File Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Materials Research Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1872-793X |
| EndPage | 292 |
| ExternalDocumentID | 10_1016_j_robot_2014_09_021 S0921889014002061 |
| GroupedDBID | --K --M -~X .~1 0R~ 123 1B1 1~. 1~5 29P 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABFNM ABFRF ABIVO ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHPGS AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ RXW SBC SCC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE UNMZH WUQ XPP ~G- AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD 7SC 7SP 7TA 7TB 8FD FR3 H8D JG9 JQ2 L7M L~C L~D |
| ID | FETCH-LOGICAL-c402t-1ccea49192d79b63e2eb0e07df0e964cad4c09b0b723240f227e719ed54086c93 |
| IEDL.DBID | .~1 |
| ISSN | 0921-8890 |
| IngestDate | Sat Sep 27 19:59:04 EDT 2025 Thu Apr 24 22:56:14 EDT 2025 Thu Oct 16 04:22:43 EDT 2025 Fri Feb 23 02:33:48 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Haptics Tactile sensing Time-series classification Robotic perception Machine learning |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c402t-1ccea49192d79b63e2eb0e07df0e964cad4c09b0b723240f227e719ed54086c93 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
| PQID | 1669859977 |
| PQPubID | 23500 |
| PageCount | 14 |
| ParticipantIDs | proquest_miscellaneous_1669859977 crossref_citationtrail_10_1016_j_robot_2014_09_021 crossref_primary_10_1016_j_robot_2014_09_021 elsevier_sciencedirect_doi_10_1016_j_robot_2014_09_021 |
| PublicationCentury | 2000 |
| PublicationDate | January 2015 2015-01-00 20150101 |
| PublicationDateYYYYMMDD | 2015-01-01 |
| PublicationDate_xml | – month: 01 year: 2015 text: January 2015 |
| PublicationDecade | 2010 |
| PublicationTitle | Robotics and autonomous systems |
| PublicationYear | 2015 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Rabiner (br000130) 1989; 77 Lederman, Klatzky (br000055) 1993; 84 Pan (br000040) 2006; 1 Tan, Durlach, Beauregard, Srinivasan (br000150) 1995; 57 Z. Du, W. Yu, Y. Yu, L. Chen, Y. Ni, J. Luo, X. Yu, Fabric handle clusters based on fuzzy clustering algorithm, in: Proc. 2008 IEEE International Conference on Fuzzy Systems and Knowledge Discovery, vol. 3, pp. 546–550. Fishel, Loeb (br000090) 2012; 6 C.H. Lin, T. Erickson, J. Fishel, N. Wettels, G. Loeb, Signal processing and fabrication of a biomimetic tactile sensor array with thermal, force and microvibration modalities, in: Proc. 2009 IEEE International Conference on Robotics and Biomimetics, pp. 129–134. Gönen, Alpaydın (br000180) 2011; 12 V. Chu, I. McMahon, L. Riano, C.G. McDonald, Q. He, J.M. Perez-Tejada, M. Arrigo, N. Fitter, J.C. Nappo, T. Darrell, K.J. Kuchenbecker, Using robotic exploratory procedures to learn the meaning of haptic adjectives, in: Proc. 2013 IEEE Internatational Conference of Robotics and Automation, p. TBA. Sinapov, Sukhoy, Sahai, Stoytchev (br000080) 2011; 27 X. Chen, J. Ji, J. Jiang, G. Jin, F. Wang, J. Xie, Developing high-level cognitive functions for service robots, in: Proc. 2010 International Conference on Autonomous Agents and Multiagent Systems, pp. 989–996. Griffith, Sinapov, Sukhoy, Stoytchev (br000075) 2012 N. Gorges, S.E. Navarro, D. Goger, H. Wörn, Haptic object recognition using passive joints and haptic key features, in: Proc. 2010 IEEE International Conference on Robotics and Automation, pp. 2349–2355. S. Lenser, M. Veloso, Non-parametric time series classification, in: Proc. 2005 IEEE International Conference on Robotics and Automation, pp. 3918–3923. I. McMahon, V. Chu, L. Riano, C.G. McDonald, Q. He, J.M. Perez-Tejada, M. Arrigo, N. Fitter, J. Nappo, T. Darrell, K.J. Kuchenbecker, Robotic learning of haptic adjectives through physical interaction, in: Proc. 2012 IEEE/RSJ IROS Workshop on Advances in Tactile Sensing and Touch-based Human–robot Interaction, Vilamoura, Algarve, Portugal, pp. 1–2. Gorostiza, Salichs (br000025) 2011; 59 Hollins, Bensmaïa, Karlof, Young (br000045) 2000; 62 Johansson, Flanagan (br000010) 2009; 10 Klatzky, Lederman, Metzger (br000050) 1985; 37 Lloyd (br000165) 1982; 28 A.M. Okamura, M.L. Turner, M.R. Cutkosky, Haptic exploration of objects with rolling and sliding, in: Proc. 1997 IEEE International Conference on Robotics and Automation, vol. 3, pp. 2485–2490. Kemp, Edsinger, Torres-Jara (br000015) 2007 . Tiest, Kappers (br000185) 2008; vol. 5024 Penn Haptics, 2013. Jolliffe (br000160) 2005 Cadoret, Smith (br000005) 1996; 75 Chitta, Sturm, Piccoli, Burgard (br000070) 2011 Brooks, Lignos, Finucane, Medvedev, Perera, Raman, Kress-Gazit, Marcus, Yanco (br000020) 2012 Picard, Dacremont, Valentin, Giboreau (br000170) 2003; 114 A. Schneider, J. Sturm, C. Stachniss, M. Reisert, H. Burkhardt, W. Burgard, Object identification with tactile sensors using bag-of-features, in: Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 243–248. Loden, Olsson, Skare, Axell, Ab (br000105) 1992; 43 Shao, Chen, Barnes, Henson (br000115) 2010; 224 Oddo, Controzzi, Beccai, Cipriani, Carrozza (br000085) 2011; 27 Citrin, S, Spangenberg, Clark (br000035) 2003; 56 T. Taichi, M. Takahiro, I. Hiroshi, H. Norihiro, Automatic categorization of haptic interactions-what are the typical haptic interactions between a human and a robot?, in: Proc. 2006 IEEE-RAS International Conference on Humanoid Robots, pp. 490–496. Burges (br000175) 1998; 2 Romano, Hsiao, Niemeyer, Chitta, Kuchenbecker (br000065) 2011; 27 Oddo (10.1016/j.robot.2014.09.021_br000085) 2011; 27 Fishel (10.1016/j.robot.2014.09.021_br000090) 2012; 6 10.1016/j.robot.2014.09.021_br000125 Rabiner (10.1016/j.robot.2014.09.021_br000130) 1989; 77 Shao (10.1016/j.robot.2014.09.021_br000115) 2010; 224 Cadoret (10.1016/j.robot.2014.09.021_br000005) 1996; 75 Brooks (10.1016/j.robot.2014.09.021_br000020) 2012 Romano (10.1016/j.robot.2014.09.021_br000065) 2011; 27 Gorostiza (10.1016/j.robot.2014.09.021_br000025) 2011; 59 10.1016/j.robot.2014.09.021_br000095 10.1016/j.robot.2014.09.021_br000030 Chitta (10.1016/j.robot.2014.09.021_br000070) 2011 Tiest (10.1016/j.robot.2014.09.021_br000185) 2008; vol. 5024 10.1016/j.robot.2014.09.021_br000135 10.1016/j.robot.2014.09.021_br000110 Picard (10.1016/j.robot.2014.09.021_br000170) 2003; 114 Klatzky (10.1016/j.robot.2014.09.021_br000050) 1985; 37 Tan (10.1016/j.robot.2014.09.021_br000150) 1995; 57 10.1016/j.robot.2014.09.021_br000155 Sinapov (10.1016/j.robot.2014.09.021_br000080) 2011; 27 Burges (10.1016/j.robot.2014.09.021_br000175) 1998; 2 Hollins (10.1016/j.robot.2014.09.021_br000045) 2000; 62 Citrin (10.1016/j.robot.2014.09.021_br000035) 2003; 56 Lloyd (10.1016/j.robot.2014.09.021_br000165) 1982; 28 Lederman (10.1016/j.robot.2014.09.021_br000055) 1993; 84 Griffith (10.1016/j.robot.2014.09.021_br000075) 2012 Gönen (10.1016/j.robot.2014.09.021_br000180) 2011; 12 Johansson (10.1016/j.robot.2014.09.021_br000010) 2009; 10 Loden (10.1016/j.robot.2014.09.021_br000105) 1992; 43 10.1016/j.robot.2014.09.021_br000060 Pan (10.1016/j.robot.2014.09.021_br000040) 2006; 1 10.1016/j.robot.2014.09.021_br000120 Jolliffe (10.1016/j.robot.2014.09.021_br000160) 2005 10.1016/j.robot.2014.09.021_br000140 10.1016/j.robot.2014.09.021_br000145 Kemp (10.1016/j.robot.2014.09.021_br000015) 2007 10.1016/j.robot.2014.09.021_br000100 |
| References_xml | – volume: 75 start-page: 1963 year: 1996 end-page: 1969 ident: br000005 article-title: Friction, not texture, dictates grip forces used during object manipulation publication-title: J. Neurophysiol. – reference: X. Chen, J. Ji, J. Jiang, G. Jin, F. Wang, J. Xie, Developing high-level cognitive functions for service robots, in: Proc. 2010 International Conference on Autonomous Agents and Multiagent Systems, pp. 989–996. – volume: 224 start-page: 97 year: 2010 end-page: 105 ident: br000115 article-title: A novel tactile sensation measurement system for qualifying touch perception publication-title: Proc. Inst. Mech. Eng. [H] – volume: 6 start-page: 1 year: 2012 end-page: 20 ident: br000090 article-title: Bayesian exploration for intelligent identification of textures publication-title: Frontiers Neurorobot. – volume: 62 start-page: 1534 year: 2000 end-page: 1544 ident: br000045 article-title: Individual differences in perceptual space for tactile textures: Evidence from multidimensional scaling publication-title: Attention, Percept. Psychophys. – volume: 56 start-page: 915 year: 2003 end-page: 922 ident: br000035 article-title: Consumer need for tactile input: an Internet retailing challenge publication-title: J. Business Res. – volume: 10 start-page: 345 year: 2009 end-page: 359 ident: br000010 article-title: Coding and use of tactile signals from the fingertips in object manipulation tasks publication-title: Nature Rev. Neurosci. – volume: 84 start-page: 29 year: 1993 end-page: 40 ident: br000055 article-title: Extracting object properties through haptic exploration publication-title: Acta Psychol. – volume: 43 start-page: 13 year: 1992 end-page: 20 ident: br000105 article-title: Instrumental and sensory evaluation of the frictional response of the skin following a single application of five moisturizing creams publication-title: J. Soc. Cosmetic Chemists – volume: 12 start-page: 2211 year: 2011 end-page: 2268 ident: br000180 article-title: Multiple kernel learning algorithms publication-title: J. Mach. Learn. Res. – volume: 2 start-page: 121 year: 1998 end-page: 167 ident: br000175 article-title: A tutorial on support vector machines for pattern recognition publication-title: Data Min. Knowl. Discov. – reference: Z. Du, W. Yu, Y. Yu, L. Chen, Y. Ni, J. Luo, X. Yu, Fabric handle clusters based on fuzzy clustering algorithm, in: Proc. 2008 IEEE International Conference on Fuzzy Systems and Knowledge Discovery, vol. 3, pp. 546–550. – reference: T. Taichi, M. Takahiro, I. Hiroshi, H. Norihiro, Automatic categorization of haptic interactions-what are the typical haptic interactions between a human and a robot?, in: Proc. 2006 IEEE-RAS International Conference on Humanoid Robots, pp. 490–496. – start-page: 20 year: 2007 end-page: 29 ident: br000015 article-title: Challenges for robot manipulation in human environments: developing robots that perform useful work in everyday settings publication-title: IEEE Robot. Autom. Mag. – start-page: 2 year: 2012 end-page: 8 ident: br000020 article-title: Make It So: Continuous, Flexible Natural Language Interaction with an Autonomous Robot, AAAI Technical Report WS-12-07 – start-page: 558 year: 2011 end-page: 568 ident: br000070 article-title: Tactile sensing for mobile manipulation publication-title: IEEE Transactions on Robotics – reference: V. Chu, I. McMahon, L. Riano, C.G. McDonald, Q. He, J.M. Perez-Tejada, M. Arrigo, N. Fitter, J.C. Nappo, T. Darrell, K.J. Kuchenbecker, Using robotic exploratory procedures to learn the meaning of haptic adjectives, in: Proc. 2013 IEEE Internatational Conference of Robotics and Automation, p. TBA. – volume: 57 start-page: 495 year: 1995 end-page: 510 ident: br000150 article-title: Manual discrimination of compliance using active pinch grasp: The roles of force and work cues publication-title: Perception and Psychophysics – volume: 1 start-page: 48 year: 2006 end-page: 60 ident: br000040 article-title: Quantification and evaluation of human tactile sense towards fabrics publication-title: Int. J. Design Nature – reference: I. McMahon, V. Chu, L. Riano, C.G. McDonald, Q. He, J.M. Perez-Tejada, M. Arrigo, N. Fitter, J. Nappo, T. Darrell, K.J. Kuchenbecker, Robotic learning of haptic adjectives through physical interaction, in: Proc. 2012 IEEE/RSJ IROS Workshop on Advances in Tactile Sensing and Touch-based Human–robot Interaction, Vilamoura, Algarve, Portugal, pp. 1–2. – volume: vol. 5024 start-page: 255 year: 2008 end-page: 264 ident: br000185 article-title: Kinaesthetic and cutaneous contributions to the perception of compressibility publication-title: Proc. 2008 EuroHaptics – volume: 77 start-page: 257 year: 1989 end-page: 286 ident: br000130 article-title: A tutorial on hidden markov models and selected applications in speech recognition publication-title: Proc. IEEE – volume: 27 start-page: 1067 year: 2011 end-page: 1079 ident: br000065 article-title: Human-inspired robotic grasp control with tactile sensing publication-title: IEEE Trans. Robotics – volume: 28 start-page: 129 year: 1982 end-page: 137 ident: br000165 article-title: Least squares quantization in PCM publication-title: IEEE Trans. Inform. Theory – year: 2005 ident: br000160 article-title: Principal Component Analysis – reference: A.M. Okamura, M.L. Turner, M.R. Cutkosky, Haptic exploration of objects with rolling and sliding, in: Proc. 1997 IEEE International Conference on Robotics and Automation, vol. 3, pp. 2485–2490. – reference: Penn Haptics, 2013. – reference: S. Lenser, M. Veloso, Non-parametric time series classification, in: Proc. 2005 IEEE International Conference on Robotics and Automation, pp. 3918–3923. – reference: C.H. Lin, T. Erickson, J. Fishel, N. Wettels, G. Loeb, Signal processing and fabrication of a biomimetic tactile sensor array with thermal, force and microvibration modalities, in: Proc. 2009 IEEE International Conference on Robotics and Biomimetics, pp. 129–134. – volume: 114 start-page: 165 year: 2003 end-page: 184 ident: br000170 article-title: Perceptual dimensions of tactile textures publication-title: Acta Psychol. – volume: 27 start-page: 522 year: 2011 end-page: 533 ident: br000085 article-title: Roughness encoding for discrimination of surfaces in artificial active-touch publication-title: IEEE Transactions on Robotics – reference: . – reference: A. Schneider, J. Sturm, C. Stachniss, M. Reisert, H. Burkhardt, W. Burgard, Object identification with tactile sensors using bag-of-features, in: Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 243–248. – volume: 37 start-page: 299 year: 1985 end-page: 302 ident: br000050 article-title: Identifying objects by touch: An “expert system” publication-title: Perception and Psychophysics – volume: 27 start-page: 488 year: 2011 end-page: 497 ident: br000080 article-title: Vibrotactile recognition and categorization of surfaces by a humanoid robot publication-title: IEEE Transactions on Robotics – start-page: 54 year: 2012 end-page: 69 ident: br000075 article-title: A behavior-grounded approach to forming object categories: Separating containers from noncontainers publication-title: IEEE Trans. Autonom. Mental Develop. – reference: N. Gorges, S.E. Navarro, D. Goger, H. Wörn, Haptic object recognition using passive joints and haptic key features, in: Proc. 2010 IEEE International Conference on Robotics and Automation, pp. 2349–2355. – volume: 59 start-page: 1102 year: 2011 end-page: 1114 ident: br000025 article-title: End-user programming of a social robot by dialog publication-title: Robot. Auton. Syst. – volume: 10 start-page: 345 year: 2009 ident: 10.1016/j.robot.2014.09.021_br000010 article-title: Coding and use of tactile signals from the fingertips in object manipulation tasks publication-title: Nature Rev. Neurosci. doi: 10.1038/nrn2621 – ident: 10.1016/j.robot.2014.09.021_br000060 doi: 10.1109/ROBOT.1997.619334 – ident: 10.1016/j.robot.2014.09.021_br000095 doi: 10.1109/IROS.2009.5354648 – volume: 27 start-page: 1067 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000065 article-title: Human-inspired robotic grasp control with tactile sensing publication-title: IEEE Trans. Robotics doi: 10.1109/TRO.2011.2162271 – volume: 62 start-page: 1534 year: 2000 ident: 10.1016/j.robot.2014.09.021_br000045 article-title: Individual differences in perceptual space for tactile textures: Evidence from multidimensional scaling publication-title: Attention, Percept. Psychophys. doi: 10.3758/BF03212154 – start-page: 20 year: 2007 ident: 10.1016/j.robot.2014.09.021_br000015 article-title: Challenges for robot manipulation in human environments: developing robots that perform useful work in everyday settings publication-title: IEEE Robot. Autom. Mag. doi: 10.1109/MRA.2007.339604 – ident: 10.1016/j.robot.2014.09.021_br000145 – volume: 27 start-page: 488 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000080 article-title: Vibrotactile recognition and categorization of surfaces by a humanoid robot publication-title: IEEE Transactions on Robotics doi: 10.1109/TRO.2011.2127130 – volume: 12 start-page: 2211 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000180 article-title: Multiple kernel learning algorithms publication-title: J. Mach. Learn. Res. – volume: 57 start-page: 495 year: 1995 ident: 10.1016/j.robot.2014.09.021_br000150 article-title: Manual discrimination of compliance using active pinch grasp: The roles of force and work cues publication-title: Perception and Psychophysics doi: 10.3758/BF03213075 – volume: vol. 5024 start-page: 255 year: 2008 ident: 10.1016/j.robot.2014.09.021_br000185 article-title: Kinaesthetic and cutaneous contributions to the perception of compressibility – start-page: 2 year: 2012 ident: 10.1016/j.robot.2014.09.021_br000020 – ident: 10.1016/j.robot.2014.09.021_br000100 doi: 10.1109/ROBOT.2010.5509553 – ident: 10.1016/j.robot.2014.09.021_br000030 – volume: 56 start-page: 915 year: 2003 ident: 10.1016/j.robot.2014.09.021_br000035 article-title: Consumer need for tactile input: an Internet retailing challenge publication-title: J. Business Res. doi: 10.1016/S0148-2963(01)00278-8 – volume: 75 start-page: 1963 year: 1996 ident: 10.1016/j.robot.2014.09.021_br000005 article-title: Friction, not texture, dictates grip forces used during object manipulation publication-title: J. Neurophysiol. doi: 10.1152/jn.1996.75.5.1963 – volume: 77 start-page: 257 year: 1989 ident: 10.1016/j.robot.2014.09.021_br000130 article-title: A tutorial on hidden markov models and selected applications in speech recognition publication-title: Proc. IEEE doi: 10.1109/5.18626 – volume: 37 start-page: 299 year: 1985 ident: 10.1016/j.robot.2014.09.021_br000050 article-title: Identifying objects by touch: An “expert system” publication-title: Perception and Psychophysics doi: 10.3758/BF03211351 – start-page: 558 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000070 article-title: Tactile sensing for mobile manipulation publication-title: IEEE Transactions on Robotics doi: 10.1109/TRO.2011.2134130 – volume: 28 start-page: 129 year: 1982 ident: 10.1016/j.robot.2014.09.021_br000165 article-title: Least squares quantization in PCM publication-title: IEEE Trans. Inform. Theory doi: 10.1109/TIT.1982.1056489 – volume: 27 start-page: 522 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000085 article-title: Roughness encoding for discrimination of surfaces in artificial active-touch publication-title: IEEE Transactions on Robotics doi: 10.1109/TRO.2011.2116930 – ident: 10.1016/j.robot.2014.09.021_br000120 doi: 10.1109/ICHR.2006.321318 – volume: 1 start-page: 48 year: 2006 ident: 10.1016/j.robot.2014.09.021_br000040 article-title: Quantification and evaluation of human tactile sense towards fabrics publication-title: Int. J. Design Nature – volume: 84 start-page: 29 year: 1993 ident: 10.1016/j.robot.2014.09.021_br000055 article-title: Extracting object properties through haptic exploration publication-title: Acta Psychol. doi: 10.1016/0001-6918(93)90070-8 – volume: 114 start-page: 165 year: 2003 ident: 10.1016/j.robot.2014.09.021_br000170 article-title: Perceptual dimensions of tactile textures publication-title: Acta Psychol. doi: 10.1016/j.actpsy.2003.08.001 – start-page: 54 year: 2012 ident: 10.1016/j.robot.2014.09.021_br000075 article-title: A behavior-grounded approach to forming object categories: Separating containers from noncontainers publication-title: IEEE Trans. Autonom. Mental Develop. doi: 10.1109/TAMD.2011.2157504 – volume: 2 start-page: 121 year: 1998 ident: 10.1016/j.robot.2014.09.021_br000175 article-title: A tutorial on support vector machines for pattern recognition publication-title: Data Min. Knowl. Discov. doi: 10.1023/A:1009715923555 – ident: 10.1016/j.robot.2014.09.021_br000155 doi: 10.1109/ROBIO.2009.5420611 – volume: 59 start-page: 1102 year: 2011 ident: 10.1016/j.robot.2014.09.021_br000025 article-title: End-user programming of a social robot by dialog publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2011.07.009 – volume: 224 start-page: 97 year: 2010 ident: 10.1016/j.robot.2014.09.021_br000115 article-title: A novel tactile sensation measurement system for qualifying touch perception publication-title: Proc. Inst. Mech. Eng. [H] doi: 10.1243/09544119JEIM658 – ident: 10.1016/j.robot.2014.09.021_br000140 doi: 10.1109/ICRA.2013.6631000 – volume: 43 start-page: 13 year: 1992 ident: 10.1016/j.robot.2014.09.021_br000105 article-title: Instrumental and sensory evaluation of the frictional response of the skin following a single application of five moisturizing creams publication-title: J. Soc. Cosmetic Chemists – ident: 10.1016/j.robot.2014.09.021_br000125 doi: 10.1109/ROBOT.2005.1570719 – ident: 10.1016/j.robot.2014.09.021_br000110 doi: 10.1109/FSKD.2008.571 – ident: 10.1016/j.robot.2014.09.021_br000135 – volume: 6 start-page: 1 year: 2012 ident: 10.1016/j.robot.2014.09.021_br000090 article-title: Bayesian exploration for intelligent identification of textures publication-title: Frontiers Neurorobot. doi: 10.3389/fnbot.2012.00004 – year: 2005 ident: 10.1016/j.robot.2014.09.021_br000160 |
| SSID | ssj0003573 |
| Score | 2.4779088 |
| Snippet | To perform useful tasks in everyday human environments, robots must be able to both understand and communicate the sensations they experience during haptic... |
| SourceID | proquest crossref elsevier |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 279 |
| SubjectTerms | Algorithms Classification Haptics Human Machine learning Robotic perception Robotics Robots Tactile sensing Tasks Time-series classification Willow |
| Title | Robotic learning of haptic adjectives through physical interaction |
| URI | https://dx.doi.org/10.1016/j.robot.2014.09.021 https://www.proquest.com/docview/1669859977 |
| Volume | 63 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Baden-Württemberg Complete Freedom Collection (Elsevier) customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: GBLVA dateStart: 20110101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier ScienceDirect customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: ACRLP dateStart: 19950201 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier ScienceDirect customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: .~1 dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier ScienceDirect Freedom Collection customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: AIKHN dateStart: 19950201 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVLSH databaseName: Elsevier Journals customDbUrl: mediaType: online eissn: 1872-793X dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: AKRWK dateStart: 19880301 isFulltext: true providerName: Library Specific Holdings |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwELaqssCAeIryUpAYCbWdh-OxVFSFig6Fim5W7FygFUqiPlZ-O3bi8JLowBTFsh3r7Jw_--6-Q-iSeQpS4ObejQeuPn8RlysSueBRAoryWCkT7_wwDPtj_34STBqoW8fCGLdKq_srnV5qa1vSttJsF9Np-xFzvT1FxgxoME95BPJ9ZrIYXL9_uXl4QWVl1pVdU7tmHip9vOa5zI1DJanITin5a3f6pafLzae3g7YtanQ61cB2UQOyPbT1jUtwH92MzFemyrF5IF6cPHVe48IUxcms0msLx-blcQo7P47hi5hX0Q0HaNy7fer2XZsgwVX62Ld0iVIQ-1yDtIRxGXpAQWLALEkx8NBXceIrzCWWzOAmnFLKgBEOiYZpUai4d4iaWZ7BEXIU9tOEMZliIkvCGurFEqjydF8xTaCFaC0YoSx7uEli8SZqN7GZKKUpjDQF5kJLs4WuPhsVFXnG-uphLXHxYw0Ird7XN7yo50fov8OYPOIM8tVCkDDkUcA1yD3-b-cnaFO_BdW1yylqLucrONNAZCnPy5V2jjY6d4P-0DwHo-fBB7ih3-c |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwELaqMgAD4inKM0iMhNrOw_UIFVWBtgO0Ujcrdi7QCiVRHyu_HTtxeEl0YHXOTnR27r6zz98hdMk8BQlws-_GA1fHX8TlirRc8CgBRXmklLnv3B-E3ZH_MA7GNdSu7sKYtEpr-0ubXlhr29K02mzmk0nzGXPtnlrmGNBgHhMCrfkBZSYCu37_yvPwgvKYWUu7RryiHiqSvGaZzExGJSnZTin5yz39MtSF9-lsoy0LG52b8st2UA3SXbT5jUxwD90-mbdMlGMLQbw4WeK8RrlpiuJpadjmji3M4-R2ghxDGDErrzfso1HnbtjuurZCgqt03LdwiVIQ-VyjtJhxGXpAQWLALE4w8NBXUewrzCWWzAAnnFDKgBEOscZprVBx7wDV0yyFQ-Qo7CcxYzLBRBaMNdSLJFDl6bEiGkMD0UoxQln6cFPF4k1UeWJTUWhTGG0KzIXWZgNdfXbKS_aM1eJhpXHxYxEIbd9Xd7yo5kfo38OceUQpZMu5IGHIWwHXKPfov4Ofo_XusN8TvfvB4zHa0E-Ccg_mBNUXsyWcalSykGfFqvsAAYPf2Q |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Robotic+learning+of+haptic+adjectives+through+physical+interaction&rft.jtitle=Robotics+and+autonomous+systems&rft.au=Chu%2C+Vivian&rft.au=McMahon%2C+Ian&rft.au=Riano%2C+Lorenzo&rft.au=McDonald%2C+Craig+G.&rft.date=2015-01-01&rft.issn=0921-8890&rft.volume=63&rft.spage=279&rft.epage=292&rft_id=info:doi/10.1016%2Fj.robot.2014.09.021&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_robot_2014_09_021 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0921-8890&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0921-8890&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0921-8890&client=summon |