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Application of Charge Detection to Dynamic Contact Sensing

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.

Identiferoai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5950
Date01 March 1993
CreatorsEberman, Brian, Salisbury, S. Kenneth
Source SetsM.I.T. Theses and Dissertation
Languageen_US
Detected LanguageEnglish
Format20 p., 293410 bytes, 1101065 bytes, application/octet-stream, application/pdf
RelationAIM-1421

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