{"id":"https://openalex.org/W3092265214","doi":"https://doi.org/10.1109/case48305.2020.9216788","title":"Learning to Predict Friction and Classify Contact States by Tactile Sensor","display_name":"Learning to Predict Friction and Classify Contact States by Tactile Sensor","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3092265214","doi":"https://doi.org/10.1109/case48305.2020.9216788","mag":"3092265214"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103092719","display_name":"Xingru Zhou","orcid":"https://orcid.org/0009-0004-5851-4837"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingru Zhou","raw_affiliation_strings":["Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100596564","display_name":"Zheng Zhang","orcid":"https://orcid.org/0009-0006-8999-1200"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhang","raw_affiliation_strings":["Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063594353","display_name":"Xiaojun Zhu","orcid":"https://orcid.org/0000-0002-9506-9005"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Zhu","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics,Shenzhen Intemational Graduate School, Tsinghua University, Shenzhen, China","Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics,Shenzhen Intemational Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics,Shenzhen Intemational Graduate School, Tsinghua University, Shenzhen, China","Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics,Shenzhen Intemational Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103092719"],"corresponding_institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.4462,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60129862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"15","issue":null,"first_page":"1243","last_page":"1248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.989300012588501,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.989300012588501,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9886000156402588,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8208579421043396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6764537692070007},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.63740074634552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6120784878730774},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5808278322219849},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.549656867980957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5399333238601685},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49319714307785034},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4799109399318695},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.45638540387153625},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4552324414253235},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.45145168900489807},{"id":"https://openalex.org/keywords/time-series","display_name":"Time series","score":0.4126475751399994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2528015673160553},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.24238267540931702},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16925925016403198}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8208579421043396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6764537692070007},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.63740074634552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6120784878730774},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5808278322219849},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.549656867980957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5399333238601685},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49319714307785034},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4799109399318695},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.45638540387153625},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4552324414253235},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.45145168900489807},{"id":"https://openalex.org/C151406439","wikidata":"https://www.wikidata.org/wiki/Q186588","display_name":"Time series","level":2,"score":0.4126475751399994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2528015673160553},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.24238267540931702},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16925925016403198},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9216788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1485009520","https://openalex.org/W1522301498","https://openalex.org/W1548071717","https://openalex.org/W1715197639","https://openalex.org/W2095705004","https://openalex.org/W2199073508","https://openalex.org/W2221877149","https://openalex.org/W2765994785","https://openalex.org/W2886316146","https://openalex.org/W2896289664","https://openalex.org/W2898821548","https://openalex.org/W2949099979","https://openalex.org/W2952866402","https://openalex.org/W2963402657","https://openalex.org/W2963915174","https://openalex.org/W2973592469","https://openalex.org/W3002011424","https://openalex.org/W3028618997","https://openalex.org/W6631190155","https://openalex.org/W6674330103","https://openalex.org/W6712884540","https://openalex.org/W6726983635","https://openalex.org/W6745274615","https://openalex.org/W6755383193","https://openalex.org/W6755731386","https://openalex.org/W6769351376"],"related_works":["https://openalex.org/W2742785019","https://openalex.org/W1859354494","https://openalex.org/W2121077487","https://openalex.org/W2051859390","https://openalex.org/W2942781953","https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998"],"abstract_inverted_index":{"In":[0,127],"real-world":[1],"grasping":[2,5,37],"tasks,":[3],"unstable":[4],"will":[6],"lead":[7],"to":[8,31,43,118,158,193],"sliding":[9,27,48,63],"between":[10],"the":[11,14,18,33,36,51,82,89,93,97,104,112,115,120,167,170,185],"object":[12,20,34],"and":[13,35,45,76,101,106,139,184],"robotic":[15],"nd-effectors.":[16],"When":[17],"target":[19],"owns":[21],"special":[22],"properties":[23],"(e.g.":[24],"glasses,":[25],"etc.),":[26],"may":[28],"cause":[29],"damage":[30],"both":[32],"environment,":[38],"so":[39],"it":[40],"is":[41,125,179,195],"necessary":[42],"predict":[44],"classify":[46,119],"whether":[47],"occurs":[49],"at":[50,56,96],"moment":[52,98],"of":[53,92,99,114,132,174,188],"grasping.":[54],"Aiming":[55],"predicting":[57],"sliding,":[58],"this":[59,128],"paper":[60],"proposes":[61],"a":[62,78],"prediction":[64,186],"solution":[65],"for":[66],"time":[67,134,145],"series":[68,135,146],"tactile":[69,133,144,161],"data":[70,110,136,147,152],"obtained":[71],"by":[72],"crude":[73],"sensor":[74],"Xela":[75],"designs":[77],"novel":[79],"neural":[80],"network:":[81],"force":[83,95,109,176],"motion":[84],"tracking":[85,177],"network.":[86],"It":[87],"predicts":[88],"variation":[90],"trend":[91],"frictional":[94],"contact,":[100],"then":[102],"concatenate":[103],"collected":[105],"predicted":[107],"friction":[108],"as":[111],"input":[113],"LSTM":[116],"network":[117,178,190],"contact":[121],"state":[122],"(whether":[123],"there":[124],"slippage).":[126],"paper,":[129],"660":[130],"sets":[131],"are":[137],"collected,":[138],"we":[140,164],"process":[141],"high":[142],"dimensional":[143],"into":[148],"video":[149],"data.":[150],"This":[151],"processing":[153],"method":[154],"can":[155,191],"be":[156],"applied":[157],"other":[159,198],"similar":[160],"sensors.":[162],"Meanwhile,":[163],"also":[165],"verify":[166],"proposed":[168],"model,":[169],"mean":[171],"square":[172],"error":[173],"our":[175,189],"much":[180],"smaller":[181],"than":[182,197],"ConvLSTM,":[183],"accuracy":[187],"reach":[192],"93.5%,which":[194],"higher":[196],"methods.":[199]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}