{"id":"https://openalex.org/W2033513078","doi":"https://doi.org/10.1109/iros.2012.6385815","title":"Surface material recognition through haptic exploration using an intelligent contact sensing finger","display_name":"Surface material recognition through haptic exploration using an intelligent contact sensing finger","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2033513078","doi":"https://doi.org/10.1109/iros.2012.6385815","mag":"2033513078"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385815","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/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Department of Informatics, Kings College London, UK","Department of Informatics, King's College London, UK, WC2R 2LS"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Kings College London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Department of Informatics, King's College London, UK, WC2R 2LS","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101398474","display_name":"Xiaojing Song","orcid":"https://orcid.org/0000-0002-2148-2956"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiaojing Song","raw_affiliation_strings":["Department of Informatics, Kings College London, UK","Department of Informatics, King's College London, UK, WC2R 2LS"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Kings College London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Department of Informatics, King's College London, UK, WC2R 2LS","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060894383","display_name":"Jo\u00e3o Bimbo","orcid":"https://orcid.org/0000-0002-4720-9026"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joao Bimbo","raw_affiliation_strings":["Department of Informatics, Kings College London, UK","Department of Informatics, King's College London, UK, WC2R 2LS"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Kings College London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Department of Informatics, King's College London, UK, WC2R 2LS","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lakmal Seneviratne","raw_affiliation_strings":["Department of Informatics, Kings College London, UK","Department of Informatics, King's College London, UK, WC2R 2LS"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Kings College London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Department of Informatics, King's College London, UK, WC2R 2LS","institution_ids":["https://openalex.org/I183935753"]}]},{"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/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Department of Informatics, Kings College London, UK","Department of Informatics, King's College London, UK, WC2R 2LS"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Kings College London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Department of Informatics, King's College London, UK, WC2R 2LS","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004659892"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":3.90851903,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.93361918,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"52","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9994000196456909,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6985877156257629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6106162667274475},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6090746521949768},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5637699365615845},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.561155378818512},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43799838423728943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11903020739555359}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6985877156257629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6106162667274475},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6090746521949768},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5637699365615845},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.561155378818512},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43799838423728943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11903020739555359},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385815","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:kclpure.kcl.ac.uk:publications/54b6d2e2-aa70-41f8-9261-eeff5dd3a7fe","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/54b6d2e2-aa70-41f8-9261-eeff5dd3a7fe","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu, H, Song, X, Bimbo, J, Seneviratne, L & Althoefer, K 2012, Surface Material Recognition through Haptic Exploration using an Intelligent Contact Sensing Finger. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). N/A edn, vol. N/A, Piscataway, N.J., pp. 52-57. https://doi.org/10.1109/IROS.2012.6385815","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1611306188","https://openalex.org/W1978464142","https://openalex.org/W2002874739","https://openalex.org/W2030204236","https://openalex.org/W2042009811","https://openalex.org/W2046565838","https://openalex.org/W2064990398","https://openalex.org/W2068793240","https://openalex.org/W2080250879","https://openalex.org/W2119507979","https://openalex.org/W2132209922","https://openalex.org/W2147212968","https://openalex.org/W2155399784","https://openalex.org/W2158662820","https://openalex.org/W2161103583","https://openalex.org/W2161567524","https://openalex.org/W2165904679","https://openalex.org/W2166271005","https://openalex.org/W2511882365","https://openalex.org/W2570268714","https://openalex.org/W3145100414"],"related_works":["https://openalex.org/W1891287906","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W2755342338","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2058170566"],"abstract_inverted_index":{"Object":[0],"surface":[1,78,103,115,139,145,177],"properties":[2,34,105],"are":[3],"among":[4],"the":[5,32,51,59,63,69,77,87,143,152],"most":[6],"important":[7],"information":[8],"which":[9],"a":[10,25,80,92],"robot":[11],"requires":[12],"in":[13,65],"order":[14],"to":[15,96,117,158],"effectively":[16],"interact":[17],"with":[18,79],"an":[19,40,167],"unknown":[20,36],"environment.":[21],"This":[22,43,112],"paper":[23],"presents":[24],"novel":[26],"haptic":[27],"exploration":[28],"strategy":[29],"for":[30,138,173],"recognizing":[31],"physical":[33,104],"of":[35,49,171],"object":[37],"surfaces":[38],"using":[39],"intelligent":[41,45],"finger.":[42],"developed":[44],"finger":[46,73],"is":[47,156],"capable":[48],"identifying":[50],"contact":[52,64],"location,":[53],"normal":[54],"and":[55,58,85,101,136,163],"tangential":[56],"force,":[57],"vibrations":[60],"generated":[61],"from":[62],"real":[66],"time.":[67],"In":[68],"proposed":[70],"strategy,":[71],"this":[72,98,110],"gently":[74],"slides":[75],"along":[76],"short":[81],"stroke":[82],"while":[83],"increasing":[84],"decreasing":[86],"sliding":[88],"velocity.":[89],"By":[90],"applying":[91],"dynamic":[93],"friction":[94],"model":[95],"describe":[97],"contact,":[99],"rich":[100],"accurate":[102],"can":[106],"be":[107,118],"identified":[108],"within":[109],"stroke.":[111],"allows":[113],"different":[114,176],"materials":[116],"easily":[119],"distinguished":[120],"even":[121],"if":[122],"when":[123],"they":[124],"have":[125,133],"very":[126],"similar":[127],"texture.":[128],"Several":[129],"supervised":[130],"learning":[131],"algorithms":[132],"been":[134,149],"applied":[135],"compared":[137],"recognition":[140],"based":[141],"on":[142],"obtained":[144],"properties.":[146],"It":[147],"has":[148],"found":[150],"that":[151],"nai\u0308ve":[153],"Bayes":[154],"classifier":[155],"superior":[157],"radial":[159],"basis":[160],"function":[161],"network":[162],"k-NN":[164],"method,":[165],"achieving":[166],"overall":[168],"classification":[169],"accuracy":[170],"88.5%":[172],"distinguishing":[174],"twelve":[175],"materials.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":7}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}