Vibrations in Tool-mediated Interactions: Three-Dimensional Accelerations and Corresponding Videos during Human-Surface Haptic Interactions

Citation Author(s):
Hojin
Lee
Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
Güney Işık
Tombak
Department of Information Technology and Electrical Engineering, ETH Zürich, Zürich, Switzerland
Gunhyuk
Park
AI Graduate School, Gwangju Institute of Science and Technology, Gwangju, South Korea
Katherine J.
Kuchenbecker
Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
Submitted by:
Hojin Lee
Last updated:
Tue, 08/03/2021 - 15:50
DOI:
10.21227/8s0d-ca94
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License:
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Abstract 

This is a dataset of 32 five-second-long vibration recordings. One human used a metal tool to perform one of two tool-mediated surface interactions (tapping or dragging) on the following four different surfaces: sandpaper (hard and rough), acrylic plastic (hard and smooth), rough paper (soft and rough), and rubber (soft and smooth). Each of the eight combinations of interaction and surface were recorded four times.
The vibration data were recorded with an accelerometer (ADXL354, Analog Devices) rigidly mounted to the tool. The sampling rate was 10,000 Hz in all three axes. The accelerations are measured in g (equal to 9.81 m/s^2) and saved in csv format. We provide versions with no filtering, high-pass filtering at 20 Hz, and two band-pass filters. The xyz coordinate frame for the sensor’s data can be seen in "DataSet.jpg”. We provide sample MATLAB scripts for loading and plotting the data. An mp4 video of each recorded interaction is also provided.

Instructions: 

Structure

\
PlotData.m % Matlab function to plot the vibration signal
Example.m % Example Matlab script
DataSet.jpg % Image of the accelerometer's xyz coordinate frame
Instruction.txt % Basic instruction to this dataset
 
\VibrationSignal\
  Signal_[INTERACT]_[SURFACE]_[TRIAL]_[POST].csv
 
\VibrationVideo\
  Video_[INTERACT]_[SURFACE]_[TRIAL].mp4
 
\SurfaceImages\
  Image_Surfaces.jpg % Image of four surfaces
  Image_[SURFACE].jpg % Image of each surface
 

Definitions

[INTERACT] = Interactions: 'Tapping' or 'Dragging'
 - Tapping: Hitting a surface perpendicular to its surface five times with the instrumented stylus
 - Dragging: Moving the stylus along the surface in an inverted-L-shaped stroke, once along the x-axis followed by once along the y-axis

[SURFACE] = Surfaces: 'Sandpaper', 'Acrylic''Roughpaper', or 'Rubber'
 - Sandpaper: A surface that is hard and rough (HR)
 - Acrylic: A surface that is hard and smooth (HS)
 - Roughpaper: A surface that is soft and rough (SR)
 - Rubber: A surface that is soft and smooth (SS)

[TRIAL] = Trials: integer 1~4
 - Different recordings in the same condition

[POST] = Postprocessing methods: 'Raw', 'HighPass', 'BandPass1000', or 'BandPass500'
 - 'Raw': No post processing
 - 'HighPass': High-pass filtered (20 Hz)
 - 'BandPass1000': Band-pass filtered (20 - 1000 Hz)
 - 'BandPass500': Band-pass filtered (20 - 500 Hz)