SAFE: Unified Slip and Fracture Detection with Low-Cost Acoustic Sensing
Overview
SAFE is a low-cost system using acoustic sensors and motor feedback to detect slip and fracture in robotic grasping, achieving an Alert-F1 score of 0.884.
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Reported quantity · Alert-F1: 0.884 other · Basis not reported
“e (PVDF) acoustic sensors and motor proprioception, without relying on vision or prior material knowledge. The sensors are mounted on a compliant Fin Ray gripper, and a unified HistGradientBoosting classifier reports the state (normal, slip, or fracture) from a 79-dimensional feature vector. Under leave-one-grasp-out cross-validation, SAFE achieves an Alert-F1 of 0.884 with near-zero slip-fracture confusion, and abla”
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Reported quantity · robot trials: 46 other · Basis not reported
“tions confirm that acoustic sensing is indispensable. An adaptive grasp controller built on this detection layer runs at 104 Hz on a Jetson Orin Nano, achieving 91.3% success across 46 closed-loop robot trials spanning diverse object categories, while each fixed-force strategy drops to 0% on object conditions that mismatch its preset. It further reaches 82.4% success on novel objects unseen during training, demonstra”
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- arXiv Robotics — research abstractsSAFE: Unified Slip and Fracture Detection with Low-Cost Acoustic Sensing in Robotic Grasping
This research presents SAFE, a low-cost, general-purpose sensing approach that detects slip and fracture in real time using two PVDF acoustic sensors and motor proprioception. The system achieves an Alert-F1 of 0.884 and 91.3% success in closed-loop trials across diverse objects, with robust performance on novel objects unseen during training.
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