@inproceedings{McMahan12-EH-Noise, title = {Spectral Subtraction of Robot Motion Noise for Improved Vibrotactile Event Detection}, author = {McMahan, William and Kuchenbecker, Katherine J.}, booktitle = {Haptics: Perception, Devices, Mobility, and Communication: Proc.\ EuroHaptics, Part I}, volume = {7282}, pages = {326--337}, series = {Lecture Notes in Computer Science}, publisher = {Springer}, address = {Tampere, Finland}, month = jun, year = {2012}, note = {Oral presentation given by Kuchenbecker}, doi = {}, month_numeric = {6} }