Spectral subtraction of robot motion noise for improved event detection in tactile acceleration signals

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 7282 LNCS, Issue PART 1, 2012, Pages 326-337

  McMahan, William ^a   Kuchenbecker, Katherine J ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

haptic feedback for teleoperation; noise suppression; tactile accelerations; vibrations

Indexed keywords

ACCELERATION SIGNALS; AUTONOMOUS MANIPULATION; AUTONOMOUS ROBOTICS; HAPTIC FEEDBACKS; NOISE SUPPRESSION; SHORT TIME WINDOWS; SPECTRAL SUBTRACTIONS; VIBRATIONS;

ACCELEROMETERS; AUDIO ACOUSTICS; COMMUNICATION; REMOTE CONTROL; ACCELERATION MEASUREMENT; SIGNAL TO NOISE RATIO;

ROBOTS;

EID: 84883769383     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-642-31401-8_30     Document Type: Conference Paper

References (26)

1. Willow Garage, Overview of the PR2 (2011) http://www.willowgarage.com/ pages/pr2/overview (accessed on February 14, 2011)
2. Allen, J.: Short term spectral analysis, synthesis, and modification by discrete fourier transform. IEEE Transactions on Acoustics, Speech and Signal Processing 25(3), 235-238 (1977)
3. Bell, J., Bolanowski, S., Holmes, M.H.: The structure and function of Pacinian corpuscles: A review. Progress in Neurobiology 42(1), 79-128 (1994)
4. Benesty, J., Chen, J., Huand, Y., Cohen, I.: Noise Reduction in Speech Processing, Springer Topics in Signal Processing, vol. 2. Springer (2009)
5. Blackemore, S.J., Wolpert, D., Frith, C.: Why can't you tickle yourself? Neuroreport 11, R11-R16 (2000)
6. Boll, S.: Suppression of acoustic noise in speech using spectral subtraction. IEEE Transactions on Acoustics, Speech and Signal Processing 27(2), 113-120 (1979)
7. Dennerlein, J.T., Millman, P.A., Howe, R.D.: Vibrotactile feedback for industrial telemanipulators. In: Proc. of the Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, pp. 107-113 (November 1997)
8. Ephraim, Y., Malah, D.: Speech enhancement using a minimum-mean square error short-time spectral amplitude estimator. IEEE Transactions on Acoustics, Speech and Signal Processing 32(6), 1109-1121 (1984)
9. Howe, R.D., Popp, N., Akella, P., Kao, I., Cutkosky, M.R.: Grasping, manipulation, and control with tactile sensing. In: Proc. of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1258-1263 (1990)
10. Ince, G., Nakadai, K., Rodemann, T., Hasegawa, Y., Tsujino, H., Imura, J.I.: Ego noise suppression of a robot using template subtraction. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 199-204 (October 2009)
11. Ince, G., Nakadai, K., Rodemann, T., Hasegawa, Y., Tsujino, H., Imura, J.i.: A hybrid framework for ego noise cancellation of a robot. In: Proc. of the IEEE International Conference on Robotics and Automation, pp. 3623-3628 (May 2010)
12. Johansson, R.S., Flanagan, J.R.: Coding and use of tactile signals from the fingertips in object manipulation tasks. Nature Reviews Neuroscience 10, 345-359 (2009)
13. Klatzky, R.L., Lederman, S.J.: Perceiving object properties through a rigid link. In: Lin, M., Otaduy, M. (eds.) Haptic Rendering: Algorithms and Applications, ch. 1, pp. 7-19. A. K. Peters (2008)
14. Kontarinis, D.A., Howe, R.D.: Tactile display of vibratory information in teleoperation and virtual environments. Presence: Teleoperators and Virtual Environments 4(4), 387-402 (1995)
15. Kuchenbecker, K.J., Gewirtz, J., McMahan, W., Standish, D., Martin, P., Bohren, J., Mendoza, P.J., Lee, D.I.: VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds.) EuroHaptics 2010, Part I. LNCS, vol. 6191, pp. 189-196. Springer, Heidelberg (2010)
16. Landin, N., Romano, J.M., McMahan, W., Kuchenbecker, K.J.: Dimensional Reduction of High-Frequency Accelerations for Haptic Rendering. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds.) EuroHaptics 2010, Part II. LNCS, vol. 6192, pp. 79-86. Springer, Heidelberg (2010)
17. Massie, T.H., Salisbury, J.K.: The PHANToMhaptic interface: A device for probing virtual objects. In: Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, Illinois (1994)
18. McMahan, W., Gewirtz, J., Standish, D., Martin, P., Kunkel, J.A., Lilavois, M., Wedmid, A., Lee, D.I., Kuchenbecker, K.J.: Tool contact acceleration feedback for telerobotic surgery. IEEE Transactions on Haptics 4(3), 210-220 (2011)
19. McMahan, W., Kuchenbecker, K.J.: Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3171-3177 (October 2009)
20. McMahan, W., Romano, J.M., Rahuman, A.M.A., Kuchenbecker, K.J.: High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces. In: Proc. of the IEEE Haptics Symposium, pp. 141-148 (March 2010)
21. Okamoto, S., Konyo, M., Saga, S., Tadokoro, S.: Detectability and perceptual consequences of delayed feedback in a vibrotactile texture display. IEEE Transactions on Haptics 2(2), 73-84 (2009)
22. Romano, J.M., Hsiao, K., Niemeyer, G., Chitta, S., Kuchenbecker, K.J.: Human-inspired robotic grasp control with tactile sensing. IEEE Transactions on Robotics (99), 1-13 (2011)
23. Vaseghi, S.V.: Advanced Digital Signal Processing and Noise Reduction. John Wiley & Sons Ltd. (2000)
24. Vogels, I.M.L.C.: Detection of temporal delays in visual-haptic interfaces. Human Factors: The Journal of the Human Factors and Ergonomics Society 46(1), 118-134 (2004)
25. Waldron, K.J., Enedah, C., Gladstone, H.: Stiffness and texture perception for teledermatology. Studies In Health Technology and Informatics 111, 579-585 (2005)
26. Yao, H.Y., Hayward, V., Ellis, R.E.: A tactile enhancement instrument for minimally invasive surgery. Computer-Aided Surgery 10(4), 233-239 (2005)