{"id":"https://openalex.org/W4415398281","doi":"https://doi.org/10.1109/icdl63968.2025.11204359","title":"Exploring Tactile Perception for Object Localization in Granular Media: A Human and Robotic Study","display_name":"Exploring Tactile Perception for Object Localization in Granular Media: A Human and Robotic Study","publication_year":2025,"publication_date":"2025-09-16","ids":{"openalex":"https://openalex.org/W4415398281","doi":"https://doi.org/10.1109/icdl63968.2025.11204359"},"language":"en","primary_location":{"id":"doi:10.1109/icdl63968.2025.11204359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl63968.2025.11204359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5079289646","display_name":"Zhengqi Chen","orcid":"https://orcid.org/0000-0001-6649-2333"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhengqi Chen","raw_affiliation_strings":["Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067767583","display_name":"Laura Crucianelli","orcid":"https://orcid.org/0000-0001-9083-9114"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Laura Crucianelli","raw_affiliation_strings":["Queen Mary University of London,Department of Biological and Experimental Psychology,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Department of Biological and Experimental Psychology,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103012206","display_name":"Elisabetta Versace","orcid":"https://orcid.org/0000-0002-7674-3383"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Elisabetta Versace","raw_affiliation_strings":["Queen Mary University of London,Department of Biological and Experimental Psychology,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Department of Biological and Experimental Psychology,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9315999746322632,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9315999746322632,"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/tactile-sensor","display_name":"Tactile sensor","score":0.6230000257492065},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.611299991607666},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5763000249862671},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5666000247001648},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.49619999527931213},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.45719999074935913},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4336000084877014}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.732699990272522},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6841999888420105},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6230000257492065},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.611299991607666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5949000120162964},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5763000249862671},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5666000247001648},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.49619999527931213},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.45719999074935913},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4336000084877014},{"id":"https://openalex.org/C2984899217","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Tactile display","level":2,"score":0.43230000138282776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.40689998865127563},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4023999869823456},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.3481999933719635},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icdl63968.2025.11204359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl63968.2025.11204359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10218530","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10218530/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: 2025 IEEE International Conference on Development and Learning ICDL 2025. IEEE: Prague, Czech Republic. (2025)","raw_type":"Proceedings paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1991626173","https://openalex.org/W2015408604","https://openalex.org/W2021852205","https://openalex.org/W2033446774","https://openalex.org/W2043761765","https://openalex.org/W2053224076","https://openalex.org/W2057748516","https://openalex.org/W2109574785","https://openalex.org/W2245688419","https://openalex.org/W2327338916","https://openalex.org/W2347810283","https://openalex.org/W2744653421","https://openalex.org/W2888394177","https://openalex.org/W2975618492","https://openalex.org/W3041148233","https://openalex.org/W3048948813","https://openalex.org/W3190924824","https://openalex.org/W3208484299","https://openalex.org/W4285818079","https://openalex.org/W4312414693","https://openalex.org/W4327630646","https://openalex.org/W4405022360","https://openalex.org/W4405787497","https://openalex.org/W4407450410"],"related_works":[],"abstract_inverted_index":{"Localizing":[0],"buried":[1,49],"objects":[2,112],"in":[3,13,22,136,153],"granular":[4,74,137],"media,":[5],"such":[6],"as":[7],"sand,":[8],"poses":[9],"a":[10,28,36,53,57,62,97,118,141],"significant":[11],"challenge":[12],"robotics,":[14],"with":[15,39,92,107,117],"limited":[16],"insight":[17],"into":[18],"human":[19,37,133,146],"tactile":[20,46,81,134],"capabilities":[21],"these":[23],"environments.":[24],"This":[25,128],"study":[26,38,145],"presents":[27],"novel":[29],"approach":[30],"to":[31,45,68,85,144],"tactile-based":[32],"localization":[33],"through:":[34],"(1)":[35],"12":[40],"participants":[41],"assessing":[42],"fingertip":[43],"sensitivity":[44],"cues":[47,82],"from":[48,73],"objects,":[50],"and":[51,61,139,149,157,159],"(2)":[52],"robotic":[54,59,142],"experiment":[55],"using":[56],"tactile-equipped":[58],"arm":[60],"Long":[63],"Short-Term":[64],"Memory":[65],"(LSTM)":[66],"model":[67,110],"detect":[69],"object":[70],"presence.":[71],"Drawing":[72],"media":[75,138],"particle":[76],"interaction":[77],"theory,":[78],"we":[79],"hypothesize":[80],"extend":[83],"up":[84],"7":[86],"cm.":[87],"Human":[88],"results":[89,105],"confirm":[90],"detection":[91],"$70.7":[93],"\\%$":[94],"precision":[95,125],"at":[96,113],"6.9":[98],"cm":[99],"distance":[100],"(median":[101],"2.7":[102],"cm).":[103],"Robotic":[104],"align,":[106],"the":[108],"LSTM":[109],"detecting":[111],"7.1":[114],"cm,":[115],"though":[116],"better":[119],"median":[120],"(6":[121],"cm)":[122],"but":[123],"lower":[124],"($40":[126],"\\%$).":[127],"work":[129],"enhances":[130],"understanding":[131],"of":[132],"perception":[135],"introduces":[140],"system":[143],"exploration":[147],"strategies":[148],"enable":[150],"autonomous":[151],"applications":[152],"archaeology,":[154],"space":[155],"exploration,":[156],"search":[158],"rescue.":[160]},"counts_by_year":[],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-22T00:00:00"}
