{"id":"https://openalex.org/W4296911005","doi":"https://doi.org/10.1109/access.2022.3208883","title":"Tactile Resilience of Sensory Whisker by Adaptive Morphology","display_name":"Tactile Resilience of Sensory Whisker by Adaptive Morphology","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4296911005","doi":"https://doi.org/10.1109/access.2022.3208883"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3208883","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3208883","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09900331.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09900331.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010140596","display_name":"Nhan Huu Nguyen","orcid":"https://orcid.org/0000-0002-9309-7336"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nhan Huu Nguyen","raw_affiliation_strings":["Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9309-7336","affiliations":[{"raw_affiliation_string":"Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021023927","display_name":"Helmut H\u00e4user","orcid":"https://orcid.org/0000-0001-5634-7298"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Helmut Hauser","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K","SoftLab, Bristol Robotics Laboratory, United Kingdom","Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0001-5634-7298","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"SoftLab, Bristol Robotics Laboratory, United Kingdom","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, U.K","Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-7588-9567","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007406858","display_name":"Van Anh Ho","orcid":"https://orcid.org/0000-0002-4519-0448"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Van Anh Ho","raw_affiliation_strings":["Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","Japan Science and Technology Agency, PRESTO, Kawaguchi, Saitama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4519-0448","affiliations":[{"raw_affiliation_string":"Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"Japan Science and Technology Agency, PRESTO, Kawaguchi, Saitama, Japan","institution_ids":["https://openalex.org/I4210086780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2144,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.40538885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"101814","last_page":"101824"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/whisker","display_name":"Whisker","score":0.7223398089408875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6780053377151489},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5370449423789978},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.5213850140571594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5107889175415039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5027351379394531},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.48202621936798096},{"id":"https://openalex.org/keywords/texture","display_name":"Texture (cosmology)","score":0.42740631103515625},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4227054715156555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34094810485839844},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.17681008577346802}],"concepts":[{"id":"https://openalex.org/C179111330","wikidata":"https://www.wikidata.org/wiki/Q901525","display_name":"Whisker","level":2,"score":0.7223398089408875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6780053377151489},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5370449423789978},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.5213850140571594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5107889175415039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5027351379394531},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.48202621936798096},{"id":"https://openalex.org/C2781195486","wikidata":"https://www.wikidata.org/wiki/Q289436","display_name":"Texture (cosmology)","level":3,"score":0.42740631103515625},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4227054715156555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34094810485839844},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.17681008577346802},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2022.3208883","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3208883","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09900331.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:af945a65037142bbbc9a07297384d69b","is_oa":true,"landing_page_url":"https://doaj.org/article/af945a65037142bbbc9a07297384d69b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 101814-101824 (2022)","raw_type":"article"},{"id":"pmh:oai:iris.unige.it:11567/1105336","is_oa":true,"landing_page_url":"https://hdl.handle.net/11567/1105336","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:afd7943b-7552-4dc5-9081-0ecf833fc023","is_oa":true,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:afd7943b-7552-4dc5-9081-0ecf833fc023","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3208883","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3208883","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09900331.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G3105706333","display_name":null,"funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6198381055","display_name":"From Sensing to Collaboration: Engineering, Exploring and Exploiting the Building Blocks of Embodied Intelligence - An EPSRC Programme Grant","funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7700729725","display_name":"Mechanics of Morphological Compensation, and its Application to Sensing and Control of Soft Robots","funder_award_id":"21H01287","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1484218370","https://openalex.org/W1738827650","https://openalex.org/W1966996634","https://openalex.org/W1976329025","https://openalex.org/W1977312644","https://openalex.org/W2001528712","https://openalex.org/W2012187602","https://openalex.org/W2019959154","https://openalex.org/W2077777602","https://openalex.org/W2101234009","https://openalex.org/W2135050083","https://openalex.org/W2150364799","https://openalex.org/W2221398315","https://openalex.org/W2560064486","https://openalex.org/W2606327391","https://openalex.org/W2667381890","https://openalex.org/W2807275354","https://openalex.org/W2883537367","https://openalex.org/W2898311896","https://openalex.org/W2943191071","https://openalex.org/W2998475224","https://openalex.org/W3093809030","https://openalex.org/W3095708125","https://openalex.org/W3107437201","https://openalex.org/W3122307386","https://openalex.org/W3139161113","https://openalex.org/W3163334213","https://openalex.org/W3185941249","https://openalex.org/W4206500353","https://openalex.org/W4210767564","https://openalex.org/W4226058793","https://openalex.org/W6675354045"],"related_works":["https://openalex.org/W2211124859","https://openalex.org/W1939862770","https://openalex.org/W2317750057","https://openalex.org/W2130422840","https://openalex.org/W1578489772","https://openalex.org/W2356254597","https://openalex.org/W2014890547","https://openalex.org/W585690246","https://openalex.org/W3197236504","https://openalex.org/W2147064221"],"abstract_inverted_index":{"Nature":[0],"is":[1,21,33,66,186,213,236],"featured":[2],"by":[3,104,136],"the":[4,16,28,37,50,58,74,83,87,111,125,134,138,149,152,163,167,172,177,184,203,229],"resiliency,":[5],"which":[6,118],"enables":[7],"adaptivity":[8],"to":[9,25,41,70,156,175,215],"sudden":[10],"change":[11,106],"under":[12],"many":[13],"circumstances.":[14],"Meanwhile,":[15],"resiliency":[17],"in":[18,162,228],"robotic":[19],"systems":[20],"far":[22],"from":[23],"comparable":[24],"that":[26,79,98,147,193,225],"of":[27,52,73,107,113,121,151,166,205,223],"nature.":[29],"If":[30],"a":[31,217,220],"robot":[32,75],"partially":[34,187],"damaged,":[35],"often":[36],"whole":[38],"system":[39],"fails":[40],"operate":[42],"properly.":[43],"While":[44],"some":[45],"approaches":[46],"have":[47],"been":[48],"proposed,":[49],"majority":[51],"them":[53],"are":[54],"focusing":[55],"on":[56,180,219],"updating":[57],"control":[59],"policy.":[60],"Such":[61],"approach,":[62],"while":[63],"rather":[64],"complex,":[65],"not":[67],"always":[68],"applicable":[69],"mechanical":[71],"damage":[72,103],"body,":[76],"especially":[77],"parts":[78],"continuously":[80],"interact":[81],"with":[82],"surrounding":[84],"environment.":[85],"In":[86,129],"previous":[88],"works":[89],"[1]":[90],"[2],":[91],"we":[92,132,190],"introduced":[93],"an":[94],"artificial":[95],"whiskered":[96],"sensor":[97,140,196],"exhibited":[99],"resilience":[100],"against":[101,234],"physical":[102],"active":[105],"its":[108],"morphology":[109,150,197],"around":[110],"placement":[112],"sensory":[114,168,173],"elements":[115],"(strain":[116],"gauges),":[117],"allowed":[119],"compensation":[120],"location":[122],"sensing":[123],"when":[124],"whisker":[126,139,153,174,185],"was":[127],"trimmed.":[128],"this":[130],"paper,":[131],"extend":[133],"approach":[135],"using":[137,194],"for":[141],"texture":[142,181],"discrimination":[143,182],"tasks.":[144],"We":[145],"demonstrate":[146],"changing":[148],"again":[154],"helps":[155],"reduce":[157],"mismatching":[158],"between":[159],"prior":[160],"knowledge":[161],"frequency/time":[164],"domain":[165],"signal.":[169],"This":[170,211],"allows":[171],"recover":[176],"tactile":[178,200],"perception":[179,201],"after":[183],"damaged.":[188],"Furthermore,":[189],"also":[191],"observe":[192],"adaptive":[195],"would":[198],"augment":[199],"without":[202],"need":[204],"computationally":[206],"expensive":[207],"recognition":[208],"and":[209],"re-classification.":[210],"work":[212,227],"expected":[214],"shed":[216],"light":[218],"new":[221],"generation":[222],"robots":[224],"automatically":[226],"open":[230],"world":[231],"where":[232],"self-maintenance":[233],"uncertainties":[235],"needed.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
