{"id":"https://openalex.org/W3003319185","doi":"https://doi.org/10.1109/iros40897.2019.8968532","title":"Deep Neural Network Approach in Electrical Impedance Tomography-based Real-time Soft Tactile Sensor","display_name":"Deep Neural Network Approach in Electrical Impedance Tomography-based Real-time Soft Tactile Sensor","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003319185","doi":"https://doi.org/10.1109/iros40897.2019.8968532","mag":"3003319185"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101412469","display_name":"Hyunkyu Park","orcid":"https://orcid.org/0000-0001-5121-2917"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyunkyu Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103260057","display_name":"Hyosang Lee","orcid":"https://orcid.org/0000-0001-8984-7870"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hyosang Lee","raw_affiliation_strings":["Max Planck Institute of Intelligent Systems,Stuttgart,Germany,70569","Max Planck Institute of Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute of Intelligent Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Max Planck Institute of Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037889492","display_name":"Kyungseo Park","orcid":"https://orcid.org/0000-0002-9146-2686"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungseo Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050194076","display_name":"Sangwoo Mo","orcid":"https://orcid.org/0000-0002-3141-7859"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangwoo Mo","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100608898","display_name":"Jung Kim","orcid":"https://orcid.org/0000-0002-1825-6325"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101412469"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.5943,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.82529705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7447","last_page":"7452"},"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":0.9990000128746033,"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":0.9990000128746033,"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9850999712944031,"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/robustness","display_name":"Robustness (evolution)","score":0.70740807056427},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6595229506492615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5893357992172241},{"id":"https://openalex.org/keywords/electrical-impedance-tomography","display_name":"Electrical impedance tomography","score":0.5749288201332092},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5224263072013855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5065103769302368},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4776916801929474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4488081932067871},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43364158272743225},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.4316677153110504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3607152998447418},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3403896987438202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33906060457229614},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.3065232038497925},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09567323327064514}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.70740807056427},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6595229506492615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5893357992172241},{"id":"https://openalex.org/C155175808","wikidata":"https://www.wikidata.org/wiki/Q1326472","display_name":"Electrical impedance tomography","level":3,"score":0.5749288201332092},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5224263072013855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5065103769302368},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4776916801929474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4488081932067871},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43364158272743225},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.4316677153110504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3607152998447418},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3403896987438202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33906060457229614},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.3065232038497925},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09567323327064514},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.mpg.de:item_3221442","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0006-6366-8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1665214252","https://openalex.org/W1677182931","https://openalex.org/W2020852992","https://openalex.org/W2037486375","https://openalex.org/W2041556066","https://openalex.org/W2053510218","https://openalex.org/W2099322603","https://openalex.org/W2111406701","https://openalex.org/W2133835651","https://openalex.org/W2144092287","https://openalex.org/W2147782759","https://openalex.org/W2150609833","https://openalex.org/W2171130677","https://openalex.org/W2284794734","https://openalex.org/W2516314007","https://openalex.org/W2546562563","https://openalex.org/W2580898283","https://openalex.org/W2611467245","https://openalex.org/W2740337843","https://openalex.org/W2792796617","https://openalex.org/W2803224943","https://openalex.org/W2805890534","https://openalex.org/W2964121744","https://openalex.org/W6631190155","https://openalex.org/W6732357506"],"related_works":["https://openalex.org/W2359871536","https://openalex.org/W1992681652","https://openalex.org/W2991320615","https://openalex.org/W1979972895","https://openalex.org/W2051428347","https://openalex.org/W2944246511","https://openalex.org/W4285180073","https://openalex.org/W4391184577","https://openalex.org/W4235437594","https://openalex.org/W3097371773"],"abstract_inverted_index":{"Recently,":[0],"a":[1,32,56,70,101,189,217,231],"whole-body":[2,18],"tactile":[3,19,44,119,193,220],"sensing":[4,20],"have":[5],"emerged":[6],"in":[7,16,42,155,213],"robotics":[8],"for":[9,65,230],"safe":[10],"human-robot":[11],"interaction.":[12],"A":[13,62],"key":[14],"issue":[15],"the":[17,66,75,114,160,165,182,197,219,224],"is":[21,68,94,228],"ensuring":[22],"large-area":[23,43],"manufacturability":[24],"and":[25,85,138,200,210],"high":[26],"durability.":[27],"To":[28,158],"fulfill":[29],"these":[30],"requirements,":[31],"reconstruction":[33,92,115,198],"method":[34,47],"called":[35],"electrical":[36],"impedance":[37],"tomography":[38],"(EIT)":[39],"was":[40,150,186],"adopted":[41],"sensing.":[45],"This":[46,78],"maps":[48],"voltage":[49],"measurements":[50],"to":[51,112,188],"conductivity":[52],"distribution":[53],"using":[54,69,206],"only":[55],"few":[57],"number":[58],"of":[59,117],"measurement":[60,89,145,163,176],"electrodes.":[61],"common":[63],"approach":[64,111,212],"mapping":[67],"linearized":[71,79,208],"model":[72,80,149,185,209,227],"derived":[73],"from":[74],"Maxwell's":[76],"equation.":[77],"shows":[81],"fast":[82],"computation":[83],"time":[84,135],"moderate":[86],"robustness":[87,161,202],"against":[88,162],"noise":[90,171,201],"but":[91],"accuracy":[93,116],"limited.":[95],"In":[96],"this":[97],"paper,":[98],"we":[99],"propose":[100],"novel":[102],"nonlinear":[103,139],"EIT":[104],"algorithm":[105],"through":[106,174],"Deep":[107],"Neural":[108],"Network":[109],"(DNN)":[110],"improve":[113],"EIT-based":[118],"sensors.":[120],"The":[121,147],"neural":[122],"network":[123,140],"architecture":[124],"with":[125,152,168,223],"rectified":[126],"linear":[127],"unit":[128],"(ReLU)":[129],"function":[130],"ensured":[131],"extremely":[132],"low":[133],"computational":[134],"(0.002":[136],"seconds)":[137],"structure":[141],"which":[142],"provides":[143],"superior":[144],"accuracy.":[146],"DNN":[148,184,226],"trained":[151,183,225],"dataset":[153],"synthesized":[154],"simulation":[156,214],"environment.":[157,215],"achieve":[159],"noise,":[164],"training":[166],"proceeded":[167],"additive":[169],"Gaussian":[170],"that":[172],"estimated":[173],"actual":[175],"noise.":[177],"For":[178,195],"real":[179],"sensor":[180,221],"application,":[181],"transferred":[187],"conductive":[190],"fabric-based":[191],"soft":[192],"sensor.":[194],"validation,":[196],"error":[199],"were":[203],"mainly":[204],"compared":[205],"conventional":[207],"proposed":[211],"As":[216],"demonstration,":[218],"equipped":[222],"presented":[229],"contact":[232],"force":[233],"estimation.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}