Table 1. Softness Classification Results with SVM Classifiers at Level-1

Table 1.  Softness Classification Results with SVM classifiers at Level-1

Hand / Classes / Linear SVM / Poly-SVM / RBF-SVM /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / D / 86.43
(0.23) / 18.33
(0.07) / 13.57
(0.11) / 82.14
(1.08) / 23.52
(0.17) / 17.86
(0.13) / 80.00
(1.06) / 24.24
(0.09) / 20.00
(0.11)
ND / 77.14
(1.67) / 12.24
(0.12) / 22.86
(0.12) / 70.00
(0.87) / 18.19
(0.09) / 30.00
(0.21) / 70.71
(0.87) / 16.05
(0.11) / 29.29
(0.11)
Mean / 81.79
(5.20) / 15.29
(3.34) / 18.21
(5.09) / 76.07
(6.71) / 20.86
(2.92) / 23.93
(6.65) / 75.36
(5.16) / 20.14
(4.49) / 24.64
(5.09)
Time (s) / 0.0567 / 0.0565 / 0.0584
Robot / D / 86.43
(0.17) / 18.52
(0.06) / 13.57
(0.09) / 80.71
(0.67) / 21.21
(0.12) / 19.29
(0.06) / 81.43
(0.24) / 21.15
(0.13) / 18.57
(0.11)
ND / 77.86
(0.89) / 13.19
(0.09) / 22.14
(0.11) / 73.57
(0.42) / 18.76
(0.15) / 26.43
(0.08) / 73.57
(0.32) / 16.90
(0.11) / 26.43
(0.12)
Mean / 82.14
(4.73) / 15.86
(2.92) / 17.86
(4.69) / 77.14
(3.94) / 19.99
(1.35) / 22.86
(3.91) / 77.50
(4.31) / 19.03
(2.33) / 22.50
(4.31)
Time (s) / 0.0565 / 0.0563 / 0.0579

Table 2.  Softness Classification Results with LDA and kNN classifiers at Level-1

Hand / Classes / diagLDA / pseudoLDA / kNN /
CA (%) / FP (%) / FN (%) / CA(%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / D / 82.86
(0.89) / 20.46
(0.12) / 17.14
(0.15) / 85.00
(0.82) / 18.67
(0.11) / 15.00
(0.08) / 70.71
(0.34) / 24.54
(0.10) / 29.29
(0.09)
ND / 77.14
(0.72) / 17.86
(0.24) / 22.86
(0.07) / 75.00
(1.15) / 14.67
(0.09) / 25.00
(0.17) / 72.86
(0.64) / 24.24
(0.11) / 27.14
(0.07)
Mean / 80.00
(3.21) / 17.66
(1.43) / 20.00
(3.13) / 80.00
(5.54) / 16.67
(2.19) / 20.00
(5.48) / 71.79
(1.26) / 24.39
(0.19) / 28.21
(1.18)
Time (s) / 0.0546 / 0.0572 / 0.0567
Robot / D / 83.57
(0.63) / 18.51
(0.06) / 16.43
(0.09) / 84.29
(0.21) / 16.56
(0.08) / 15.71
(0.09) / 73.57
(0.72) / 24.08
(0.09) / 26.43
(0.10)
ND / 79.29
(0.56) / 13.86
(0.12) / 20.71
(0.17) / 79.29
(0.72) / 12.94
(0.17) / 20.71
(0.16) / 75.00
(0.84) / 24.00
(0.07) / 25.00
(0.08)
Mean / 81.43
(2.40) / 16.18
(2.55) / 18.57
(2.34) / 81.79
(2.78) / 14.75
(1.99) / 18.21
(2.74) / 74.29
(1.05) / 24.04
(0.08) / 25.71
(0.79)
Time (s) / 0.0549 / 0.0568 / 0.0573

Table 3.  Softness Classification Results with SVM classifiers at Level-2

Hand / Classes / Linear SVM / Poly-SVM / RBF-SVM /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / D1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 95.24
(0.92) / 0.00
(0.00) / 4.76
(1.09) / 93.33
(0.99) / 0.00
(0.00) / 6.67
(0.33)
D2 / 91.43
(0.57) / 7.14
(0.03) / 8.57
(0.21) / 85.71
(2.51) / 4.05
(0.05) / 14.29
(0.03) / 76.19
(3.21) / 24.80
(1.12) / 23.81
(1.07)
D3 / 90.48
(1.31) / 4.29
(0.07) / 9.52
(0.24) / 94.29
(1.89) / 2.71
(0.05) / 5.71
(1.13) / 77.14
(3.33) / 31.85
(1.11) / 22.86
(1.05)
Mean / 93.97
(4.78) / 3.81
(3.21) / 6.03
(4.69) / 91.75
(5.13) / 4.59
(1.85) / 8.25
(4.80) / 82.22
(9.12) / 18.88
(15.00) / 17.78
(8.67)
Time (s) / 0.0601 / 0.0635 / 0.0581
ND1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 86.67
(3.47) / 0.00
(0.00) / 13.33
(0.51) / 97.14
(0.87) / 0.00
(0.00) / 2.86
(0.03)
ND2 / 85.71
(0.73) / 14.01
(0.21) / 14.29
(0.04) / 89.52
(1.42) / 9.67
(0.67) / 10.48
(0.09) / 76.19
(3.01) / 15.62
(0.71) / 23.81
(0.81)
ND3 / 94.29
(1.24) / 9.86
(0.17) / 5.71
(0.07) / 97.14
(0.67) / 4.51
(0.51) / 2.86
(0.27) / 83.81
(2.51) / 16.82
(0.71) / 16.19
(0.67)
Mean / 93.33
(6.50) / 7.96
(6.44) / 6.67
(6.43) / 91.11
(5.41) / 3.22
(2.36) / 8.89
(4.86) / 85.71
(9.82) / 10.81
(8.42) / 14.29
(9.51)
Time (s) / 0.0589 / 0.0593 / 0.0593
Robot / D1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 93.33
(1.03) / 0.00
(0.00) / 6.67
(1.03) / 91.43
(1.98) / 0.00
(0.00) / 8.57
(0.42)
D2 / 88.57
(1.31) / 10.24
(0.07) / 11.43
(0.03) / 92.38
(1.17) / 11.29
(0.06) / 7.62
(0.71) / 79.05
(2.71) / 21.38
(0.15) / 20.95
(0.73)
D3 / 92.10
(0.41) / 6.81
(0.07) / 7.90
(0.06) / 94.29
(0.84) / 5.73
(0.08) / 5.71
(0.43) / 80.00
(0.53) / 20.86
(0.21) / 20.00
(0.19)
Mean / 93.56
(5.31) / 5.68
(4.66) / 6.44
(5.24) / 93.33
(1.41) / 5.67
(5.05) / 6.67
(1.19) / 83.49
(6.53) / 14.08
(10.91) / 16.51
(6.19)
Time (s) / 0.0580 / 0.0587 / 0.0585
ND1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 93.33
(2.17) / 0.00
(0.00) / 6.67
(0.41) / 94.29
(1.53) / 0.00
(0.00) / 5.71
(1.02)
ND2 / 91.43
(1.13) / 12.10
(0.09) / 8.57
(0.61) / 90.48
(1.31) / 17.43
(0.11) / 9.52
(1.01) / 78.10
(1.11) / 23.52
(0.13) / 21.90
(1.33)
ND3 / 93.33
(1.09) / 7.57
(0.02) / 6.67
(0.43) / 92.38
(2.09) / 8.43
(0.09) / 7.62
(1.08) / 87.62
(0.83) / 21.45
(0.49) / 12.38
(0.52)
Mean / 94.92
(4.15) / 6.56
(5.47) / 5.08
(4.05) / 92.06
(2.45) / 8.62
(7.80) / 7.94
(1.62) / 86.67
(7.40) / 14.99
(11.65) / 13.33
(7.36)
Time (s) / 0.0582 / 0.0572 / 0.0589

Table 4.  Softness Classification Results with LDA and kNN classifiers at Level-2

Hand / Classes / diagLDA / pseudoLDA / kNN /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / D1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00)
D2 / 88.57
(1.13) / 5.71
(1.03) / 11.43
(1.31) / 82.86
(1.43) / 9.05
(2.03) / 17.14
(0.54) / 88.57
(1.03) / 10.95
(1.73) / 11.43
(1.57)
D3 / 87.14
(2.07) / 5.24
(0.95) / 12.86
(2.42) / 87.14
(1.26) / 10.48
(1.74) / 12.86
(0.51) / 81.43
(0.97) / 7.62
(1.53) / 18.57
(1.39)
Mean / 91.90
(6.48) / 3.65
(2.97) / 8.10
(6.54) / 90.00
(8.07) / 6.51
(5.35) / 10.00
(8.00) / 90.00
(8.43) / 6.19
(5.23) / 10.00
(8.48)
Time (s) / 0.0588 / 0.0632 / 0.0583
ND1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 98.57
(0.16) / 3.81
(0.68) / 1.43
(0.36)
ND2 / 91.43
(1.86) / 9.52
(1.21) / 8.57
(1.07) / 82.86
(0.59) / 6.19
(0.23) / 17.14
(1.67) / 80.00
(2.10) / 6.19
(0.82) / 20.00
(1.45)
ND3 / 85.71
(2.43) / 5.71
(1.29) / 14.29
(1.01) / 85.71
(1.52) / 10.48
(0.85) / 14.29
(1.84) / 88.57
(1.33) / 13.33
(1.17) / 11.43
(0.09)
Mean / 92.38
(6.72) / 5.08
(4.43) / 7.62
(6.50) / 89.52
(8.28) / 5.56
(4.74) / 10.48
(8.36) / 89.05
(8.46) / 7.78
(4.54) / 10.95
(8.37)
Time (s) / 0.0618 / 0.0608 / 0.0581
Robot / D1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 100.00
(0.00) / 0.95
(0.08) / 0.00
(0.00) / 100.00
(0.00) / 0.95
(0.03) / 0.00
(0.00)
D2 / 91.43
(1.28) / 9.05
(0.06) / 8.57
(1.23) / 87.14
(1.21) / 2.86
(1.03) / 12.86
(1.07) / 84.29
(1.36) / 8.10
(1.18) / 15.71
(1.13)
D3 / 87.14
(2.87) / 6.19
(0.09) / 12.86
(1.10) / 94.29
(1.46) / 7.62
(1.24) / 5.71
(2.13) / 88.57
(1.71) / 13.33
(1.06) / 11.43
(0.07)
Mean / 92.86
(6.18) / 5.08
(4.13) / 7.14
(5.94) / 93.81
(5.89) / 3.81
(3.24) / 6.19
(5.96) / 90.95
(7.39) / 7.46
(5.65) / 9.05
(7.30)
Time (s) / 0.0591 / 0.0596 / 0.0607
ND1 / 100.00
(0.00) / 0.00
(0.00) / 0.00
(0.00) / 100.00
(0.00) / 0.95
(0.07) / 0.00
(0.00) / 98.57
(0.04) / 0.00
(0.00) / 1.43
(0.07)
ND2 / 90.00
(1.13) / 4.76
(1.05) / 10.00
(1.03) / 80.00
(2.61) / 5.24
(1.53) / 20.00
(1.07) / 81.43
(1.26) / 5.71
(0.30) / 18.57
(0.41)
ND3 / 90.00
(2.47) / 5.71
(2.17) / 10.00
(1.47) / 91.43
(1.38) / 14.29
(1.14) / 8.57
(0.07) / 92.86
(1.13) / 14.76
(0.06) / 7.14
(1.13)
Mean / 93.33
(5.44) / 3.49
(3.13) / 6.67
(5.29) / 90.48
(9.17) / 6.83
(6.21) / 9.52
(9.00) / 90.95
(7.88) / 6.83
(6.66) / 9.05
(7.84)
Time (s) / 0.0581 / 0.0589 / 0.0610

Table 5.  Texture Classification Results with SVM

Hand / Classes / Linear SVM / Poly-SVM / RBF-SVM /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / C1 / 74.29
(2.08) / 39.50
(1.07) / 25.71
(1.17) / 79.84
(1.50) / 11.38
(0.61) / 20.16
(1.07) / 66.43
(2.17) / 19.29
(0.76) / 33.57
(1.41)
C2 / 70.48
(2.42) / 32.29
(0.59) / 29.52
(1.53) / 65.86
(2.31) / 18.37
(0.83) / 34.14
(1.61) / 62.42
(2.03) / 26.78
(1.31) / 37.58
(1.34)
C3 / 69.52
(1.73) / 11.38
(0.34) / 30.48
(1.31) / 84.96
(0.83) / 17.43
(0.42) / 15.04
(0.83) / 61.54
(1.79) / 25.24
(0.51) / 38.46
(1.25)
C4 / 64.76
(1.81) / 9.52
(0.67) / 35.24
(1.27) / 69.88
(2.82) / 18.24
(0.71) / 30.12
(1.42) / 61.81
(1.81) / 9.55
(0.06) / 38.19
(1.61)
C5 / 73.82
(1.95) / 18.23
(1.11) / 26.18
(1.49) / 80.40
(0.97) / 9.63
(0.94) / 19.60
(1.14) / 74.49
(1.26) / 13.22
(0.42) / 25.51
(0.83)
Mean / 70.57
(4.20) / 22.18
(12.45) / 29.43
(3.90) / 76.19
(7.77) / 15.01
(4.01) / 23.81
(7.64) / 65.34
(5.52) / 18.82
(7.07) / 34.66
(5.35)
Time (s) / 0.0324 / 0.0367 / 0.0362
Robot / C1 / 68.57
(1.07) / 35.21
(0.70) / 31.43
(1.65) / 87.70
(1.17) / 7.66
(0.07) / 12.30
(0.78) / 69.46
(0.93) / 23.65
(1.04) / 30.54
(2.01)
C2 / 73.33
(2.31) / 24.84
(1.32) / 26.67
(1.27) / 85.52
(2.03) / 29.57
(0.63) / 14.48
(1.31) / 68.61
(0.87) / 26.06
(0.71) / 31.39
(1.87)
C3 / 69.52
(1.14) / 9.76
(1.43) / 30.48
(1.05) / 78.52
(1.91) / 12.14
(0.19) / 21.48
(0.89) / 74.91
(1.57) / 31.10
(0.34) / 25.09
(0.95)
C4 / 70.48
(1.23) / 7.14
(0.73) / 29.52
(1.74) / 78.35
(1.43) / 18.08
(1.03) / 21.65
(1.46) / 67.65
(1.41) / 27.69
(1.11) / 32.35
(1.24)
C5 / 72.34
(0.67) / 10.16
(0.72) / 27.66
(1.56) / 69.18
(1.11) / 8.50
(0.85) / 30.82
(1.30) / 72.66
(1.09) / 14.92
(0.75) / 27.34
(1.67)
Mean / 70.85
(2.37) / 17.42
(11.49) / 29.15
(2.42) / 79.80
(7.06) / 15.19
(8.54) / 20.14
(6.97) / 70.66
(3.13) / 24.68
(5.81) / 29.34
(3.32)
Time (s) / 0.0330 / 0.0352 / 0.0361

Table 6.  Texture Classification Results with LDA and kNN classifiers

Hand / Classes / diagLDA / psuedoLDA / kNN /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / C1 / 70.15
(2.10) / 5.79
(2.10) / 29.85
(1.37) / 77.07
(1.42) / 6.22
(0.43) / 22.93
(0.21) / 79.75
(0.09) / 5.89
(0.21) / 20.25
(0.06)
C2 / 77.29
(2.39) / 14.39
(1.67) / 22.71
(1.05) / 75.58
(1.07) / 17.56
(1.05) / 24.42
(0.64) / 80.78
(0.37) / 11.11
(0.15) / 19.22
(0.08)
C3 / 80.93
(3.15) / 17.48
(1.43) / 19.07
(1.21) / 71.08
(1.19) / 11.88
(0.71) / 28.92
(0.81) / 72.45
(0.81) / 8.70
(0.07) / 27.55
(0.14)
C4 / 77.81
(4.89) / 12.17
(2.09) / 22.19
(1.92) / 70.69
(1.53) / 14.46
(0.69) / 29.31
(0.37) / 86.06
(0.45) / 9.17
(0.39) / 13.94
(0.10)
C5 / 71.58
(4.30) / 11.56
(1.51) / 28.42
(0.85) / 74.11
(0.91) / 10.83
(0.43) / 25.89
(0.44) / 81.33
(0.94) / 10.28
(0.42) / 18.67
(0.05)
Mean / 75.55
(5.66) / 12.28
(4.47) / 24.45
(4.49) / 73.71
(2.93) / 12.19
(4.05) / 26.29
(2.68) / 80.07
(4.67) / 9.03
(1.90) / 19.93
(4.62)
Time (s) / 0.0385 / 0.0397 / 0.0412
Robot / C1 / 76.04
(2.90) / 5.32
(1.25) / 23.96
(0.71) / 70.25
(2.84) / 14.75
(2.13) / 29.75
(1.09) / 85.12
(1.33) / 5.27
(0.37) / 14.88
(0.43)
C2 / 76.97
(2.60) / 17.99
(0.60) / 23.03
(0.43) / 80.38
(1.53) / 15.55
(1.32) / 19.62
(2.14) / 82.69
(0.24) / 10.77
(1.51) / 17.31
(1.52)
C3 / 80.46
(4.16) / 14.78
(1.41) / 19.54
(1.09) / 75.30
(1.11) / 6.72
(1.30) / 24.70
(1.82) / 85.89
(1.06) / 8.09
(0.05) / 14.11
(0.50)
C4 / 77.59
(2.53) / 19.72
(0.57) / 22.41
(0.91) / 70.14
(2.42) / 9.46
(0.87) / 29.86
(1.30) / 77.15
(0.33) / 7.71
(1.15) / 22.85
(1.57)
C5 / 73.72
(3.96) / 5.74
(0.33) / 26.28
(0.52) / 76.13
(1.36) / 15.04
(0.97) / 23.87
(0.74) / 80.44
(0.42) / 14.86
(0.54) / 19.56
(0.65)
Mean / 76.96
(4.18) / 12.71
(6.48) / 23.04
(2.45) / 74.44
(4.58) / 12.31
(4.03) / 25.56
(4.38) / 82.26
(3.47) / 9.34
(3.57) / 17.74
(3.55)
Time (s) / 0.0386 / 0.0387 / 0.0395

Table 7.  Classification Results with SVM classifiers for bio-membranes

Hand / Classes / Linear SVM / Poly-SVM / RBF-SVM /
CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) / CA (%) / FP (%) / FN (%) /
Human / C1 / 71.43
(3.54) / 32.00
(0.78) / 28.57
(1.91) / 66.49
(1.13) / 22.75
(1.07) / 33.51
(1.42) / 80.95
(0.63) / 30.95
(1.34) / 19.05
(0.51)
C2 / 60.00
(3.19) / 20.59
(1.07) / 40.00
(0.79) / 71.46
(0.82) / 14.32
(1.13) / 28.54
(1.09) / 60.95
(0.97) / 33.47
(0.91) / 39.05
(0.67)
C3 / 64.76
(2.95) / 28.05
(0.81) / 35.24
(1.12) / 61.46
(1.09) / 24.49
(0.84) / 38.54
(1.43) / 67.62
(1.17) / 30.23
(1.09) / 32.38
(0.83)
C4 / 70.48
(1.97) / 21.43
(1.34) / 29.52
(1.41) / 63.98
(0.67) / 6.08
(0.73) / 36.02
(0.61) / 72.38
(0.41) / 31.39
(0.57) / 27.62
(1.39)
Mean / 66.67
(5.87) / 25.52
(5.17) / 33.33
(5.15) / 65.85
(4.08) / 15.01
(7.91) / 34.15
(4.15) / 70.48
(7.84) / 31.51
(1.68) / 29.52
(7.85)
Time (s) / 0.0364 / 0.0343 / 0.0366
Robot / C1 / 67.62
(2.35) / 34.00
(0.32) / 32.38
(0.67) / 62.56
(0.86) / 12.85
(0.12) / 37.44
(0.12) / 76.19
(1.13) / 30.61
(1.07) / 23.81
(0.81)
C2 / 61.90
(2.84) / 32.90
(0.18) / 38.10
(0.53) / 69.12
(0.25) / 21.02
(0.07) / 30.88
(0.36) / 62.86
(0.12) / 34.10
(0.67) / 37.14
(0.62)
C3 / 67.62
(1.72) / 27.48
(0.54) / 32.38
(0.17) / 64.58
(0.46) / 20.75
(0.03) / 35.42
(0.71) / 73.33
(0.54) / 16.71
(0.94) / 26.67
(0.19)
C4 / 71.43
(1.94) / 28.29
(0.09) / 28.57
(0.82) / 71.69
(0.37) / 6.65
(0.14) / 28.31
(0.19) / 74.29
(0.91) / 25.88
(0.43) / 25.71
(0.46)
Mean / 67.14
(4.36) / 30.66
(3.04) / 32.86
(3.69) / 66.99
(3.90) / 15.32
(6.40) / 33.01
(4.13) / 71.67
(5.59) / 26.83
(7.59) / 28.33
(5.98)
Time (s) / 0.0362 / 0.0362 / 0.0358

Table 8.  Classification Results with LDA and kNN classifiers for bio-membranes