Cluster Haptic Texture Database: Haptic Texture Database with Varied Velocity–Direction Sliding Contacts

The Cluster Haptic Texture Database is a comprehensive dataset for haptic texture research. This database provides haptic texture data with various sliding velocities and directions. This repository contains the dataset and experiment code.

• Paper

Dataset

Dataset and detail

Installation

1. git clone

git clone [email protected]:cluster-lab/Cluster-Haptic-Texture-Database.git

2. build docker image

cd Cluster-Haptic-Texture-Database
./docker_build.sh

3. unzip dataset and place in this directory

directory structure

Cluster-Haptic-Texture-Database
|
|--texture_dataset
   |
   |--images
   |
   |--sensor_data

4. make container

./docker_run.sh

(option: venv ver)

python3 -m venv .venv

# windows
.venv\Scripts\activate.ps1

# install pip package
pip3 install -r requirements.txt

Data Viewer

python3 viewer/AudioViewer.py
python3 viewer/AccelerationViewer.py
python3 FFT_view.py

Classification experiments

Options

• --models: Specify the models to use (resnet, vit, svc, decision_tree, random_forest)
• --dataset: Specify the dataset type (audio, accel, audio_accel)
• --scale: Specify the dataset scale (lite, medium, full)
• --labels: Specify the classification labels (velocity, direction)

image texture classification

python3 train/image_classification.py --models resnet

haptics texture classification

python3 train/haptics_texture_classification.py --dataset audio --models resnet --scale full

haptics texture classification with motion label

python3 train/haptics_texture_classification_motion.py --dataset audio --models resnet --scale full

haptics velocity and direction classification

python3 train/vel_dir_classification.py --dataset audio --labels velocity --model resnet

log

tensorboard --logdir=.log

Citing

preprint (arXiv)

@misc{eguchi2025clusterhaptictexturedatabase,
      title={Cluster Haptic Texture Database: Haptic Texture Database with Varied Velocity-Direction Sliding Contacts}, 
      author={Michikuni Eguchi and Tomohiro Hayase and Yuichi Hiroi and Takefumi Hiraki},
      year={2025},
      eprint={2407.16206},
      archivePrefix={arXiv},
      primaryClass={cs.HC},
      url={https://arxiv.org/abs/2407.16206}, 
}

conference paper

@inproceedings{eguchi2025whc_wip,
  title={Cluster Haptic Texture Database: Haptic Texture Database with Controlled Sliding-Contact Interactions},
  author={Michikuni Eguchi and Yuichi Hiroi and Tomohiro Hayase and Takefumi Hiraki},
  booktitle={2025 IEEE World Haptics Conference Work in Progress (WHC WiP)},
  year={2025},
  organization={IEEE}
}