Dataset for "VibroTact: Soft piezo vibration fingertip sensor for recognition of texture roughness via robotic sliding exploratory procedures"

This file contains data collected with the VibroTact sensor from eight artificial textures with different roughness. The data is collected using five different sliding exploratory procedures. The main folder is composed of eight folders where the folder name indicates the texture roughness as follows: - Folder name: 2_5mm -> texture roughness 2.5mm - Folder name: 5mm -> texture roughness 5.0mm - Folder name: 7_5mm -> texture roughness 7.5mm - Folder name: 10mm -> texture roughness 10.0mm - Folder name: 12_5mm -> texture roughness 12.5mm - Folder name: 15mm -> texture roughness 15.0mm - Folder name: 17_5mm -> texture roughness 17.5mm - Folder name: 20mm -> texture roughness 20.0mm Each of these files contains five folders with the data collected from the artificial textures using five different types of sliding exploratory procedures. These sliding procedures are as follows: - horizontal_sliding: the VibroTact sensor slides horizontally from left to right directions and backwards. - vertical_sliding: the VibroTact sensor slides vertically up to down and backwards. - left_diagonal_sliding: the VibroTact sensor slides from the bottom right corner of the texture to the top left corner and backwards. - right_diagonal_sliding: the VibroTact sensor slides from the bottom left corner of the texture to the top right corner and backwards. - square_sliding: the VibroTact sensor slides along the four sides of the textures. Each of these folders contains CSV files (between 100 to 120) with the actual data from the four piezo vibration sensors (channel A, channel B, channel C, channel D) embedded in the soft fingertip of the VibroTact. This data can be used together with Machine Learning methods for exploration and recognition processes.本数据集文件包含通过VibroTact传感器采集的8种不同粗糙度人造纹理的相关数据，所有数据均通过五种不同的滑动探索范式采集得到。 数据集的根文件夹包含8个子文件夹，文件夹名称直接对应纹理粗糙度，具体对应关系如下： - 文件夹名：2_5mm → 对应粗糙度2.5mm - 文件夹名：5mm → 对应粗糙度5.0mm - 文件夹名：7_5mm → 对应粗糙度7.5mm - 文件夹名：10mm → 对应粗糙度10.0mm - 文件夹名：12_5mm → 对应粗糙度12.5mm - 文件夹名：15mm → 对应粗糙度15.0mm - 文件夹名：17_5mm → 对应粗糙度17.5mm - 文件夹名：20mm → 对应粗糙度20.0mm 每个粗糙度对应的子文件夹下均包含5个二级子文件夹，分别存储五种不同滑动探索范式下采集的人造纹理数据，五种滑动探索范式具体如下： - horizontal_sliding（水平滑动）：VibroTact传感器沿纹理表面从左至右往复滑动 - vertical_sliding（垂直滑动）：VibroTact传感器沿纹理表面从上至下往复滑动 - left_diagonal_sliding（左向斜向滑动）：VibroTact传感器从纹理的右下角滑动至左上角并往复 - right_diagonal_sliding（右向斜向滑动）：VibroTact传感器从纹理的左下角滑动至右上角并往复 - square_sliding（矩形滑动）：VibroTact传感器沿纹理表面的四条侧边往复滑动 每个二级子文件夹内均包含100至120个CSV格式数据文件，存储了VibroTact传感器柔性指尖内置的四个压电振动传感器（通道A、通道B、通道C、通道D）的原始采集数据。此类数据可结合机器学习方法用于纹理探索与识别相关任务。