HapticPerceptionSS

Code base for the Haptic Perception Workshop.

⚙️ Python Requirement:
Python version 3.9.13 is recommended. Please update requirements.txt if another version is installed.

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🧪 Test Scripts

• test_eskin.py
  Checks connectivity and prints mean FSR and accelerometer values.

• test_realsense.py
  Checks RealSense camera connectivity and plots RGB and depth channels.

• test_aruco_detection.py
  Detects ArUco markers in the RGB feed. Can be used to determine the camera's pose or location.

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📊 Plot Scripts

• plot_kinesthetic_data.py
  Plots the relative 6D pose (translation + rotation) of the e-skin/tactile sensor.

• plot_tactile_data.py
  Real-time visualization of FSR and accelerometer values.

• plot_tactile_data_3D.py
  Efficient 3D visualization of tactile data — intuitive for spatiotemporal inspection.

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🧵 Main Scripts

• record_haptic_data.py
  Records both tactile and kinesthetic data streams (at different sampling rates)
  and saves them as .npy files for further analysis.

• plot_recorded_data.py
  Visualizes recorded tactile data (mean FSR, mean ACC) and kinesthetic data (position).
  Useful for evaluating experiment protocol, filtering steps, and pilot study consistency.

• preprocess.py Processes the collected data, splits

• feature_extraction.py Extracts features

• evaluate_classifier.py Performs ML Classification on the extracted features

• plot_bar_plot.py Plots main result

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