Haptic Database Description --------------------------- a) Important Notes ------------------ 1) Acceleration and Sound Taps are not used for classification, but for display. Consequently, we recorded only one tap per material by now. 2) For known rigid materials (all woods and stones, e.g.) the folding angle and pressure values are copied accross all instances to simplify the recording procedure. Since all these materials are rigid, the compliance properties like damping and relaxation are set to their corresponding extreme values for stiff materials. b) Database struct entries -------------------------- b.1) Labels, Conventions and Names finalMaterialRecording.labelCoarse --> Numeric Label, e.g., 500000000 finalMaterialRecording.labelMedium --> Numeric Label, e.g., 501000000 finalMaterialRecording.labelFine --> Numeric Label, e.g., 501080000 finalMaterialRecording.labelFineP --> Numeric Label, e.g., 501080300 finalMaterialRecording.labelFinePX --> Numeric Label, e.g., 501080306 -> C5, S1, M8, P3, X6 finalMaterialRecording.materialNameEnglish finalMaterialRecording.materialID --> labelFine as string finalMaterialRecording.class --> c finalMaterialRecording.subclass --> s finalMaterialRecording.material --> m finalMaterialRecording.processingShape --> p finalMaterialRecording.extra --> x finalMaterialRecording.instance --> i b.2) Density finalMaterialRecording.density --> in g/cm^3 b.3) Images finalMaterialRecording.displayImage --> 4032x3024x3 uint8 finalMaterialRecording.macroImage --> 4032x3024x3 uint8 finalMaterialRecording.illuminatedImage --> 4032x3024x3 uint8 b.4) Thermal t finalMaterialRecording.temperatureData --> 1x2010 double sampled at 200 Hz finalMaterialRecording.metalData --> 1x3000 double sampled at 3 kHz b.5) Reflectance r finalMaterialRecording.reflectance --> 1x6250 double sampled at 3 kHz b.6) Vibrotactile and Sound (Sliding) finalMaterialRecording.accelDFT --> 1x15000 double sampled at 3 kHz finalMaterialRecording.accelDFTSteelTooltip --> 1x15000 double sampled at 3 kHz finalMaterialRecording.sound --> 1x15000 double sampled at 3 kHz finalMaterialRecording.soundSteelTooltip --> 1x15000 double sampled at 3 kHz b.7) Vibrotactile and Sound (Tapping) finalMaterialRecording.accelTap --> 1x15000 double sampled at 3 kHz finalMaterialRecording.accelTapSteelTooltip --> 1x15000 double sampled at 3 kHz finalMaterialRecording.soundTap --> 1x15000 double sampled at 3 kHz finalMaterialRecording.soundTapSteelTooltip --> 1x15000 double sampled at 3 kHz b.8) FSRs Compliance finalMaterialRecording.pressure --> 1x6250 double sampled at 1.25 kHz finalMaterialRecording.pressureFolding --> 1x6250 double sampled at 1.25 kHz finalMaterialRecording.foldingAngle --> 1x6250 double sampled at 1.25 kHz b.9) FSRs Friction finalMaterialRecording.normalForce --> 1x15000 double sampled at 3 kHz finalMaterialRecording.frictionForce --> 1x15000 double sampled at 3 kHz