{"id":"https://openalex.org/W2017122590","doi":"https://doi.org/10.1109/iros.2012.6385649","title":"Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor","display_name":"Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2017122590","doi":"https://doi.org/10.1109/iros.2012.6385649","mag":"2017122590"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083737600","display_name":"Uriel Mart\u00ednez-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9922-7912"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Uriel Martinez-Hernandez","raw_affiliation_strings":["Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014142388","display_name":"Hector Barron-Gonzalez","orcid":null},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hector Barron-Gonzalez","raw_affiliation_strings":["Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055336968","display_name":"Mat Evans","orcid":"https://orcid.org/0009-0002-2379-8804"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mat Evans","raw_affiliation_strings":["Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["Italian Institute of Technology (IIT), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology (IIT), Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013009407","display_name":"Tony J. Prescott","orcid":"https://orcid.org/0000-0003-4927-5390"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tony J. Prescott","raw_affiliation_strings":["Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8819,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.84531436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4638","last_page":"4643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9986000061035156,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9986000061035156,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9957000017166138,"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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9865999817848206,"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/icub","display_name":"iCub","score":0.9123085141181946},{"id":"https://openalex.org/keywords/hyperacuity","display_name":"Hyperacuity","score":0.8836463093757629},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7129884362220764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6755819320678711},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6600067615509033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414119362831116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.538310170173645},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.49100497364997864},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.48581528663635254},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.48316138982772827},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41950419545173645},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3135926127433777},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15020915865898132}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9123085141181946},{"id":"https://openalex.org/C131970427","wikidata":"https://www.wikidata.org/wiki/Q17028356","display_name":"Hyperacuity","level":2,"score":0.8836463093757629},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7129884362220764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6755819320678711},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6600067615509033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414119362831116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.538310170173645},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.49100497364997864},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.48581528663635254},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.48316138982772827},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41950419545173645},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3135926127433777},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15020915865898132},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:108439","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions"},{"id":"https://metadata.un.org/sdg/10","score":0.4099999964237213,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1597790461","https://openalex.org/W1987508268","https://openalex.org/W2012037220","https://openalex.org/W2037461330","https://openalex.org/W2051530567","https://openalex.org/W2066931620","https://openalex.org/W2080317558","https://openalex.org/W2101511752","https://openalex.org/W2110525007","https://openalex.org/W2112714380","https://openalex.org/W2120350910","https://openalex.org/W2122249653","https://openalex.org/W2131341196","https://openalex.org/W2132003317","https://openalex.org/W2133835651","https://openalex.org/W2158333529","https://openalex.org/W2159863808","https://openalex.org/W2166459342","https://openalex.org/W2169134378","https://openalex.org/W2171130677","https://openalex.org/W2296039540","https://openalex.org/W2417152667","https://openalex.org/W4231002530"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2017122590","https://openalex.org/W2345650853"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,88,91,130],"modeling":[3],"animal":[4],"perception":[5,12,25,125,129],"has":[6],"motivated":[7],"an":[8,20,27],"approach":[9],"of":[10,23,51,63,85],"Bayesian":[11,24],"applied":[13],"to":[14,54,115],"biomimetic":[15],"robots.":[16],"This":[17,77],"study":[18],"presents":[19],"initial":[21],"application":[22],"on":[26,32],"iCub":[28],"fingertip":[29,111],"sensor":[30],"mounted":[31],"a":[33,49,74],"dedicated":[34],"positioning":[35],"robot.":[36],"We":[37,103],"systematically":[38],"probed":[39],"the":[40,55,58,81,100,110],"test":[41],"system":[42],"with":[43,72],"five":[44],"cylindrical":[45],"stimuli":[46],"offset":[47],"by":[48],"range":[50],"positions":[52,94],"relative":[53],"fingertip.":[56],"Testing":[57],"real-time":[59],"speed":[60],"and":[61,65],"accuracy":[62,71],"shape":[64],"position":[66],"discrimination,":[67],"we":[68],"achieved":[69],"sub-millimeter":[70],"just":[73],"few":[75],"taps.":[76],"result":[78],"is":[79],"apparently":[80],"first":[82],"explicit":[83],"demonstration":[84],"perceptual":[86,118],"hyperacuity":[87],"robot":[89,124],"touch,":[90],"that":[92,122],"object":[93],"are":[95],"perceived":[96],"more":[97],"accurately":[98],"than":[99],"taxel":[101],"spacing.":[102],"also":[104],"found":[105],"substantial":[106],"performance":[107],"gains":[108],"when":[109],"can":[112],"reposition":[113],"itself":[114],"avoid":[116],"poor":[117],"locations,":[119],"which":[120],"indicates":[121],"improved":[123],"could":[126],"mimic":[127],"active":[128],"animals.":[131]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
