{"id":"https://openalex.org/W4390224394","doi":"https://doi.org/10.1109/lra.2023.3347141","title":"Robust Learning-Based Incipient Slip Detection Using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping","display_name":"Robust Learning-Based Incipient Slip Detection Using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping","publication_year":2023,"publication_date":"2023-12-26","ids":{"openalex":"https://openalex.org/W4390224394","doi":"https://doi.org/10.1109/lra.2023.3347141"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3347141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3347141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2023.3347141","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114422958","display_name":"Qiang Wang","orcid":"https://orcid.org/0000-0002-1445-755X"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":true,"raw_author_name":"Qiang Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I100930933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088884168","display_name":"Pablo Martinez Ulloa","orcid":"https://orcid.org/0009-0009-2594-8440"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Pablo Martinez Ulloa","raw_affiliation_strings":["School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I100930933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101776562","display_name":"R. E. Burke","orcid":"https://orcid.org/0009-0004-5987-7963"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Robert Burke","raw_affiliation_strings":["School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I100930933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074319083","display_name":"David C\u00f3rdova Bulens","orcid":"https://orcid.org/0000-0003-2466-7179"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"David Cordova Bulens","raw_affiliation_strings":["School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I100930933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013317847","display_name":"Stephen J. Redmond","orcid":"https://orcid.org/0000-0002-2630-5449"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Stephen J. Redmond","raw_affiliation_strings":["School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, University College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I100930933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114422958"],"corresponding_institution_ids":["https://openalex.org/I100930933"],"apc_list":null,"apc_paid":null,"fwci":0.9873,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.73410295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1827","last_page":"1834"},"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":0.9987999796867371,"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":0.9987999796867371,"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":0.9970999956130981,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.983299970626831,"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/slip","display_name":"Slip (aerodynamics)","score":0.7987064123153687},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.663968563079834},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6484032869338989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5837556719779968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5700553059577942},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38835272192955017},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34691932797431946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2954736351966858},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2791690230369568},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07925033569335938}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7987064123153687},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.663968563079834},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6484032869338989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5837556719779968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5700553059577942},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38835272192955017},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34691932797431946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2954736351966858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2791690230369568},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07925033569335938},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3347141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3347141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:13228084","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3347141","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:13228084","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3347141","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7400000095367432,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1722760112","display_name":null,"funder_award_id":"CSC202006540003","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G2632164605","display_name":null,"funder_award_id":"SFI/12/RC/2289_P2","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"},{"id":"https://openalex.org/G4326110419","display_name":null,"funder_award_id":"17/FRL/4832","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"}],"funders":[{"id":"https://openalex.org/F4320320847","display_name":"Science Foundation Ireland","ror":"https://ror.org/0271asj38"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1859354494","https://openalex.org/W2015432625","https://openalex.org/W2087347434","https://openalex.org/W2112796928","https://openalex.org/W2221877149","https://openalex.org/W2766736793","https://openalex.org/W2775635818","https://openalex.org/W2779500696","https://openalex.org/W2837391606","https://openalex.org/W2892010946","https://openalex.org/W2927390514","https://openalex.org/W2967378496","https://openalex.org/W3131680547","https://openalex.org/W3154112932","https://openalex.org/W3205397748","https://openalex.org/W3206486039","https://openalex.org/W4296125832","https://openalex.org/W4311413922","https://openalex.org/W4366351596","https://openalex.org/W6640177214","https://openalex.org/W6640212811","https://openalex.org/W6774314701","https://openalex.org/W6846651666"],"related_works":["https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1895481218","https://openalex.org/W2770593030","https://openalex.org/W3163518500","https://openalex.org/W4281727072","https://openalex.org/W1578656222","https://openalex.org/W2906198815","https://openalex.org/W2677968565","https://openalex.org/W4287255890"],"abstract_inverted_index":{"The":[0,63],"ability":[1],"to":[2,11,15,52,96,108],"detect":[3,53],"slip,":[4,7,75],"particularly":[5],"incipient":[6,37,54,74],"enables":[8],"robotic":[9,32,110],"systems":[10],"take":[12],"corrective":[13],"measures":[14],"prevent":[16],"a":[17,40,48,77,109,127],"grasped":[18],"object":[19],"from":[20,114],"being":[21],"dropped.":[22],"Therefore,":[23],"slip":[24,38,55],"detection":[25,78],"can":[26],"enhance":[27,97],"the":[28,57,98,105,116,149],"overall":[29],"security":[30],"of":[31,81,100,130],"gripping.":[33],"However,":[34],"accurately":[35],"detecting":[36],"remains":[39],"significant":[41],"challenge.":[42],"In":[43],"this":[44,156],"letter,":[45],"we":[46,90],"propose":[47],"novel":[49],"learning-based":[50],"approach":[51],"using":[56],"PapillArray":[58],"(Contactile,":[59],"Australia)":[60],"tactile":[61],"sensor.":[62],"resulting":[64],"model":[65,107,122],"is":[66],"highly":[67],"effective":[68],"in":[69],"identifying":[70],"patterns":[71],"associated":[72],"with":[73,85,126],"achieving":[76],"success":[79,128],"rate":[80,129],"95.6%":[82],"when":[83],"tested":[84],"an":[86],"offline":[87],"dataset.":[88],"Furthermore,":[89],"introduce":[91],"several":[92,137],"data":[93,118],"augmentation":[94],"methods":[95],"robustness":[99],"our":[101,121],"model.":[102],"When":[103],"transferring":[104],"trained":[106],"gripping":[111,139],"environment":[112],"distinct":[113],"where":[115],"training":[117],"was":[119],"collected,":[120],"maintained":[123],"robust":[124],"performance,":[125],"96.8%,":[131],"providing":[132],"timely":[133],"feedback":[134],"for":[135,155],"stabilizing":[136],"practical":[138],"tasks.":[140],"Our":[141],"project":[142],"website,":[143],"<uri":[144],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[145],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://sites.google.com/view/incipient-slip-detection</uri>":[146],",":[147],"contains":[148],"code,":[150],"datasets,":[151],"and":[152],"video":[153],"demos":[154],"letter.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2023-12-27T00:00:00"}