{"id":"https://openalex.org/W4391496222","doi":"https://doi.org/10.1109/m2vip58386.2023.10413420","title":"PnuTac: A Vision-Based Pneumatic Tactile Sensor for Slip Detection and Object Classification","display_name":"PnuTac: A Vision-Based Pneumatic Tactile Sensor for Slip Detection and Object Classification","publication_year":2023,"publication_date":"2023-11-21","ids":{"openalex":"https://openalex.org/W4391496222","doi":"https://doi.org/10.1109/m2vip58386.2023.10413420"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip58386.2023.10413420","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip58386.2023.10413420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5066793909","display_name":"Prasad Rayamane","orcid":"https://orcid.org/0000-0001-6336-7393"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Prasad Rayamane","raw_affiliation_strings":["School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113087630","display_name":"Peter Herbert","orcid":null},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Herbert","raw_affiliation_strings":["School of Computer Science and Informatics, Cardiff University,Cardiff,United Kingdom,CF24 4AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Informatics, Cardiff University,Cardiff,United Kingdom,CF24 4AG","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046176579","display_name":"Francisco Munguia\u2010Galeano","orcid":"https://orcid.org/0000-0001-8397-3083"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francisco Munguia-Galeano","raw_affiliation_strings":["School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38633785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8539367914199829},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7583274841308594},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7572290897369385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6272528767585754},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5638982057571411},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5595601201057434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5308424234390259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5247247815132141},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.45532041788101196},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44399285316467285},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4256432354450226},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.42104238271713257},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4162290394306183},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.3558417856693268},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3274099826812744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2828490138053894},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.25660961866378784},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16931584477424622},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09744074940681458}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8539367914199829},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7583274841308594},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7572290897369385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6272528767585754},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5638982057571411},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5595601201057434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5308424234390259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5247247815132141},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.45532041788101196},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44399285316467285},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4256432354450226},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.42104238271713257},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4162290394306183},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3558417856693268},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3274099826812744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2828490138053894},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25660961866378784},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16931584477424622},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09744074940681458},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/m2vip58386.2023.10413420","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip58386.2023.10413420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:162820","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1983156320","https://openalex.org/W2162324411","https://openalex.org/W2169364846","https://openalex.org/W2171130677","https://openalex.org/W2194775991","https://openalex.org/W2221877149","https://openalex.org/W2281770328","https://openalex.org/W2416743726","https://openalex.org/W2421020186","https://openalex.org/W2569244399","https://openalex.org/W2687523990","https://openalex.org/W2743209907","https://openalex.org/W2767644386","https://openalex.org/W2781493652","https://openalex.org/W2892010946","https://openalex.org/W2909277105","https://openalex.org/W2917559944","https://openalex.org/W2962688712","https://openalex.org/W3008303301","https://openalex.org/W3011275252","https://openalex.org/W3016926102","https://openalex.org/W3089374988","https://openalex.org/W3100818121","https://openalex.org/W3104208381","https://openalex.org/W3138117074","https://openalex.org/W3192021195","https://openalex.org/W4226515748","https://openalex.org/W4280585654","https://openalex.org/W4293094970","https://openalex.org/W4313484944","https://openalex.org/W6640177214"],"related_works":["https://openalex.org/W3000336260","https://openalex.org/W3118845583","https://openalex.org/W2061621042","https://openalex.org/W2032786669","https://openalex.org/W4384828212","https://openalex.org/W2115112145","https://openalex.org/W2586109849","https://openalex.org/W2908229428","https://openalex.org/W2589929471","https://openalex.org/W2538962492"],"abstract_inverted_index":{"Soft":[0],"optical":[1,23],"tactile":[2,24,45],"sensors":[3,25],"allow":[4],"robots":[5],"to":[6,99,156,170],"capture":[7],"important":[8],"information,":[9],"such":[10,120],"as":[11,111],"contact":[12],"geometry,":[13],"estimations":[14],"of":[15,42,71,118,144,165,188],"object":[16],"compliance,":[17],"and":[18,60],"slip":[19,85,101,166],"detection.":[20,86],"However,":[21],"most":[22],"utilize":[26],"gel-filled":[27],"elastic":[28,58],"membranes":[29],"with":[30,47,64],"non-variable":[31],"stiffness.":[32],"To":[33],"overcome":[34],"this":[35,37],"limitation,":[36],"paper":[38],"presents":[39],"the":[40,72,100,108,142,145,149,154,179,189],"development":[41],"a":[43,54,61,65,92,129,158],"pneumatic":[44,55],"sensor":[46,52,114,147,181],"tunable":[48],"pressure":[49,143],"(PnuTac).":[50],"The":[51,68,161,173],"comprises":[53],"system,":[56],"an":[57],"membrane,":[59],"sealed":[62],"chamber":[63],"camera":[66],"inside.":[67],"inner":[69],"side":[70],"membrane":[73],"layer":[74],"has":[75],"dot":[76],"markers":[77],"on":[78],"its":[79],"surface":[80],"that":[81,96,140],"are":[82],"used":[83],"for":[84,127,134,153],"Slippage":[87],"is":[88],"prevented":[89],"by":[90,107],"controlling":[91],"Robotiq":[93],"2-finger":[94],"gripper":[95,109,155],"closes":[97],"according":[98],"detection":[102,167],"signal.":[103],"Additionally,":[104],"objects":[105],"held":[106],"appear":[110],"contours":[112],"in":[113],"images.":[115],"A":[116],"dataset":[117],"10,000":[119],"images":[121],"from":[122,178],"10":[123,190],"tools":[124],"was":[125,168],"utilized":[126],"training":[128],"VGG-19":[130],"convolutional":[131],"neural":[132,175],"network":[133],"tool":[135],"classification.":[136],"Our":[137],"results":[138],"show":[139],"increasing":[141],"PnuTac":[146],"reduces":[148],"time":[150],"it":[151],"takes":[152],"stabilize":[157],"slipping":[159],"object.":[160],"overall":[162],"success":[163],"rate":[164],"determined":[169],"be":[171],"87%.":[172],"trained":[174],"network,":[176],"fed":[177],"PnuTac's":[180],"live":[182],"data,":[183],"successfully":[184],"classified":[185],"8":[186],"out":[187],"tools.":[191]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
