{"id":"https://openalex.org/W4383108861","doi":"https://doi.org/10.1109/icra48891.2023.10160961","title":"Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin","display_name":"Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108861","doi":"https://doi.org/10.1109/icra48891.2023.10160961"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5048015018","display_name":"Abu Bakar Dawood","orcid":"https://orcid.org/0000-0002-1800-7919"},"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":true,"raw_author_name":"Abu Bakar Dawood","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009101608","display_name":"Claudio Coppola","orcid":"https://orcid.org/0000-0002-3835-9268"},"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":"Claudio Coppola","raw_affiliation_strings":["School of Electronics Engineering and Computer Science, Queen Mary University of London,London,UK,E1 4NS"],"affiliations":[{"raw_affiliation_string":"School of Electronics Engineering and Computer Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"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":"Kaspar Althoefer","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048015018"],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":0.7875,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67753164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"614","last_page":"619"},"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":0.9991999864578247,"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":0.9991999864578247,"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":0.9950000047683716,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.7652764320373535},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.723545491695404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6355569362640381},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6231330037117004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5690036416053772},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5300903916358948},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.473730206489563},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.45357999205589294},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.44477248191833496},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.393425315618515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38697201013565063},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33412081003189087},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23772746324539185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20409080386161804},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.20164674520492554},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12055563926696777}],"concepts":[{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.7652764320373535},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.723545491695404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355569362640381},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6231330037117004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5690036416053772},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5300903916358948},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.473730206489563},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.45357999205589294},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.44477248191833496},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.393425315618515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38697201013565063},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33412081003189087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23772746324539185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20409080386161804},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.20164674520492554},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12055563926696777},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/93780","is_oa":false,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/93780","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[{"id":"https://openalex.org/G5516723506","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320337575","funder_display_name":"NIST Center for Neutron Research"}],"funders":[{"id":"https://openalex.org/F4320337575","display_name":"NIST Center for Neutron Research","ror":"https://ror.org/05qgcra83"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1540090286","https://openalex.org/W1970495039","https://openalex.org/W1975722466","https://openalex.org/W2012187602","https://openalex.org/W2045515881","https://openalex.org/W2065548528","https://openalex.org/W2268905166","https://openalex.org/W2293554515","https://openalex.org/W2296375030","https://openalex.org/W2323956509","https://openalex.org/W2559222480","https://openalex.org/W2593449663","https://openalex.org/W2727434991","https://openalex.org/W2736652053","https://openalex.org/W2883279767","https://openalex.org/W2959947454","https://openalex.org/W2963862955","https://openalex.org/W3107333710","https://openalex.org/W3133069434","https://openalex.org/W6637572315"],"related_works":["https://openalex.org/W2149004904","https://openalex.org/W4285102271","https://openalex.org/W3136079594","https://openalex.org/W4233135978","https://openalex.org/W3128324021","https://openalex.org/W3208690336","https://openalex.org/W4322731033","https://openalex.org/W4283740974","https://openalex.org/W1973262676","https://openalex.org/W3153919089"],"abstract_inverted_index":{"Distributed":[0],"sensor":[1,76,123],"arrays":[2,124],"capable":[3,138],"of":[4,18,32,36,40,88,139],"detecting":[5],"multiple":[6],"spatially":[7],"distributed":[8],"stimuli":[9,142],"are":[10,114,119],"considered":[11],"an":[12],"important":[13],"element":[14],"in":[15,143],"the":[16,28,34,48,110,134],"realisation":[17],"exteroceptive":[19],"and":[20,38,64,95,103,112],"proprioceptive":[21],"soft":[22,54,75,144],"robots.":[23,145],"This":[24],"paper":[25],"expands":[26],"upon":[27],"previously":[29],"presented":[30],"idea":[31],"decoupling":[33],"measurements":[35],"pressure":[37],"location":[39],"a":[41,53,74,83],"local":[42],"indentation":[43],"from":[44,73],"global":[45],"deformation,":[46],"using":[47],"overall":[49],"stretch":[50],"experienced":[51],"by":[52,126],"capacitive":[55],"e-skin.":[56],"We":[57,106],"employed":[58],"machine":[59,84,129],"learning":[60,85,130],"methods":[61],"to":[62,82,136],"decouple":[63],"predict":[65],"these":[66],"highly":[67],"coupled":[68],"deformation":[69],"stimuli,":[70],"collecting":[71],"data":[72],"e-skin":[77],"which":[78],"was":[79],"then":[80],"fed":[81],"system":[86],"comprising":[87],"linear":[89],"regressor,":[90,93],"gaussian":[91],"process":[92],"SVM":[94],"random":[96],"forest":[97],"classifier":[98],"for":[99],"stretch,":[100],"force,":[101],"detection":[102],"localisation":[104,111],"respectively.":[105],"also":[107],"studied":[108],"how":[109],"forces":[113,118],"affected":[115],"when":[116],"two":[117],"applied":[120],"simultaneously.":[121],"Soft":[122],"aided":[125],"appropriately":[127],"chosen":[128],"techniques":[131],"can":[132],"pave":[133],"way":[135],"e-skins":[137],"deciphering":[140],"multi-modal":[141]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}