acceleration; acoustic convolution; audio coding; convergence; haptic interfaces; learning (artificial intelligence); neural nets; signal classification; ACNN; RAW acceleration data; acceleration signals; automatic feature learning; convergence; convolution layers; object surface; preprocessing-free surface material classification; pretrained convolutional neural networks; publicly available haptic texture database; rigid tool; sparse AE; sparse autoencoder; trained sparse autoencoder weights; weight initialization; Acceleration; Convolution; Feature extraction; Haptic interfaces; Kernel; Training; Transforms; CNN pretraining; convolutional neural networks; haptic texture classification; sparse Autoencoder;
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