{"id":"https://openalex.org/W2346699058","doi":"https://doi.org/10.1109/haptics.2016.7463194","title":"Robust tactile perception of artificial tumors using pairwise comparisons of sensor array readings","display_name":"Robust tactile perception of artificial tumors using pairwise comparisons of sensor array readings","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2346699058","doi":"https://doi.org/10.1109/haptics.2016.7463194","mag":"2346699058"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2016.7463194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2016.7463194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Haptics Symposium (HAPTICS)","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/A5052622373","display_name":"Jennifer C. T. Hui","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jennifer C. T. Hui","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034405410","display_name":"Alexis E. Block","orcid":"https://orcid.org/0000-0001-9841-0769"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexis E. Block","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camillo J. Taylor","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, US"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, US","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052622373"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.1625,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5306344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"305","last_page":"312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9961000084877014,"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":0.9961000084877014,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9896000027656555,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9613000154495239,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7421765327453613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6312131881713867},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6187986135482788},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6095700263977051},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5903417468070984},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.5212979316711426},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.4840609133243561},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4796241223812103},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4643891751766205},{"id":"https://openalex.org/keywords/recall","display_name":"Recall","score":0.463454931974411},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.46128931641578674},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23144420981407166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0783022940158844}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7421765327453613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6312131881713867},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6187986135482788},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6095700263977051},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5903417468070984},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5212979316711426},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.4840609133243561},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4796241223812103},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4643891751766205},{"id":"https://openalex.org/C100660578","wikidata":"https://www.wikidata.org/wiki/Q18733","display_name":"Recall","level":2,"score":0.463454931974411},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.46128931641578674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23144420981407166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0783022940158844},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/haptics.2016.7463194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2016.7463194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309370","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W19439822","https://openalex.org/W346388580","https://openalex.org/W1540596182","https://openalex.org/W1674866864","https://openalex.org/W1966418027","https://openalex.org/W1974179199","https://openalex.org/W1983309556","https://openalex.org/W2047450513","https://openalex.org/W2049577501","https://openalex.org/W2080980929","https://openalex.org/W2107273890","https://openalex.org/W2110364366","https://openalex.org/W2118059241","https://openalex.org/W2118215144","https://openalex.org/W2132358780","https://openalex.org/W2160636558","https://openalex.org/W6600843491","https://openalex.org/W6632267817","https://openalex.org/W6670648573"],"related_works":["https://openalex.org/W2487162673","https://openalex.org/W2793211469","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2942366970","https://openalex.org/W2807634898","https://openalex.org/W1692008701","https://openalex.org/W2597588799","https://openalex.org/W2358294942","https://openalex.org/W4367460280"],"abstract_inverted_index":{"A":[0],"doctor":[1],"palpating":[2,78],"with":[3,92,223],"his":[4],"or":[5],"her":[6],"fingertips":[7],"can":[8],"easily":[9],"determine":[10,185],"whether":[11,186],"a":[12,16,75,113,180],"patient's":[13,26],"tissue":[14,86],"contains":[15],"solid":[17],"tumor,":[18],"regardless":[19],"of":[20,40,62,178,203,219],"extraneous":[21],"factors":[22],"such":[23],"as":[24],"the":[25,122,136,148,162,175,192,211,227,232],"pose.":[27],"We":[28],"want":[29],"to":[30,49,55,102,117,146,184],"create":[31],"automatic":[32,248],"palpation":[33,97],"tools":[34],"that":[35],"achieve":[36],"this":[37],"same":[38,137,212],"level":[39],"robustness,":[41],"but":[42],"real":[43],"tactile":[44,64,164,238,249],"sensor":[45,165,239],"signals":[46],"are":[47],"sensitive":[48],"small":[50],"physical":[51],"variations":[52],"and":[53,108,128,173,201,214,221],"tend":[54],"drift":[56],"over":[57],"time.":[58],"To":[59],"investigate":[60],"ways":[61],"achieving":[63,246],"perceptual":[65,155],"invariance,":[66],"we":[67,160],"collected":[68],"two":[69],"nearly":[70],"identical":[71],"data":[72,150,209,228],"sets":[73],"from":[74,89,121,157,191,210],"SynTouch":[76],"BioTac":[77],"at":[79],"10,260":[80],"points":[81],"distributed":[82],"across":[83],"an":[84,187],"artificial":[85],"sample":[87],"made":[88],"silicone":[90],"rubber":[91],"rigid":[93],"embedded":[94,193],"lumps.":[95,194],"Each":[96],"interaction":[98],"was":[99,189],"distilled":[100],"down":[101],"20":[103,163],"numbers":[104],"(19":[105],"electrode":[106],"impedances":[107],"one":[109],"DC":[110],"pressure).":[111],"Fitting":[112],"multivariate":[114],"Gaussian":[115],"distribution":[116],"examples":[118,134],"recorded":[119,135,230],"far":[120,190],"lumps":[123],"achieved":[124,198],"near-perfect":[125],"accuracy,":[126,199],"precision,":[127,200],"recall":[129,202,222],"in":[130],"recognizing":[131],"other":[132,149,233],"background":[133],"day.":[138,234],"These":[139],"models":[140],"performed":[141],"miserably,":[142],"though,":[143],"when":[144],"used":[145,174],"classify":[147],"set.":[151],"Inspired":[152],"by":[153],"robust":[154,247],"methods":[156],"computer":[158],"vision,":[159],"transformed":[161],"array":[166,240],"readings":[167,241],"into":[168],"190":[169],"binary":[170,182],"pairwise":[171],"comparisons":[172,236],"log":[176],"likelihood":[177],"observing":[179],"given":[181],"pattern":[183],"example":[188],"This":[195],"novel":[196],"approach":[197],"about":[204],"80%":[205],"on":[206,226,231],"reserved":[207],"testing":[208],"day":[213],"yielded":[215],"roughly":[216],"similar":[217],"levels":[218],"accuracy":[220],"excellent":[224],"precision":[225],"set":[229],"Pairwise":[235],"between":[237],"may":[242],"hold":[243],"promise":[244],"for":[245],"perception.":[250]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
