Application of Charge Detection to Dynamic Contact Sensing

dc.creator	Eberman, Brian
dc.creator	Salisbury, S. Kenneth
dc.date	2004-10-04T14:15:56Z
dc.date	2004-10-04T14:15:56Z
dc.date	1993-03-01
dc.date.accessioned	2013-10-09T02:42:05Z
dc.date.available	2013-10-09T02:42:05Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1421
dc.identifier	http://hdl.handle.net/1721.1/5950
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.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.
dc.format	20 p.
dc.format	293410 bytes
dc.format	1101065 bytes
dc.format	application/octet-stream
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1421
dc.subject	tactile sensing
dc.subject	change detection
dc.subject	haptic sensing
dc.subject	failuresdetection
dc.title	Application of Charge Detection to Dynamic Contact Sensing

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