{"id":"https://openalex.org/W2588935875","doi":"https://doi.org/10.1109/mfi.2016.7849467","title":"Proton: A visuo-haptic data acquisition system for robotic learning of surface properties","display_name":"Proton: A visuo-haptic data acquisition system for robotic learning of surface properties","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2588935875","doi":"https://doi.org/10.1109/mfi.2016.7849467","mag":"2588935875"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2016.7849467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","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/A5062221104","display_name":"Alex Burka","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alex Burka","raw_affiliation_strings":["MEAM, University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"MEAM, University of Pennsylvania","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033050402","display_name":"Siyao Hu","orcid":"https://orcid.org/0000-0003-4908-9563"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siyao Hu","raw_affiliation_strings":["MEAM, University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"MEAM, University of Pennsylvania","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061104874","display_name":"S Helgeson","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stuart Helgeson","raw_affiliation_strings":["MEAM, University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"MEAM, University of Pennsylvania","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007241518","display_name":"Shweta Krishnan","orcid":"https://orcid.org/0000-0003-1081-4094"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shweta Krishnan","raw_affiliation_strings":["MEAM, University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"MEAM, University of Pennsylvania","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101489329","display_name":"Yang Gao","orcid":"https://orcid.org/0000-0002-9149-3554"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["CS Division, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"CS Division, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020758501","display_name":"Lisa Anne Hendricks","orcid":"https://orcid.org/0000-0001-9340-5143"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lisa Anne Hendricks","raw_affiliation_strings":["CS Division, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"CS Division, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029105520","display_name":"Trevor Darrell","orcid":"https://orcid.org/0000-0001-5453-8533"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor Darrell","raw_affiliation_strings":["CS Division, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"CS Division, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["MEAM, University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"MEAM, University of Pennsylvania","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5062221104"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":2.6001,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.89662456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9911999702453613,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7011536359786987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6879425048828125},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6806954145431519},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6602004170417786},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5204913020133972},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5079908967018127},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4886038899421692},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.483646035194397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4464004337787628},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4350232779979706},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4224683344364166},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.2313702404499054}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7011536359786987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6879425048828125},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6806954145431519},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6602004170417786},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5204913020133972},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5079908967018127},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4886038899421692},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.483646035194397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4464004337787628},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4350232779979706},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4224683344364166},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2313702404499054},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2016.7849467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5199999809265137},{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308380","display_name":"Yale University","ror":"https://ror.org/03v76x132"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1514388995","https://openalex.org/W1695587912","https://openalex.org/W1806263934","https://openalex.org/W1907987801","https://openalex.org/W1969299770","https://openalex.org/W1976664534","https://openalex.org/W2006477110","https://openalex.org/W2049981393","https://openalex.org/W2062558416","https://openalex.org/W2067454831","https://openalex.org/W2067755752","https://openalex.org/W2075654868","https://openalex.org/W2080317558","https://openalex.org/W2083624955","https://openalex.org/W2096666470","https://openalex.org/W2107780715","https://openalex.org/W2142332741","https://openalex.org/W2146260315","https://openalex.org/W2152753150","https://openalex.org/W2158662820","https://openalex.org/W2168986765","https://openalex.org/W2201087437","https://openalex.org/W2963654998","https://openalex.org/W3099587965","https://openalex.org/W3119987222","https://openalex.org/W3213775499","https://openalex.org/W6630629707"],"related_works":["https://openalex.org/W2389377526","https://openalex.org/W3111283311","https://openalex.org/W3185561939","https://openalex.org/W2100239260","https://openalex.org/W2095971486","https://openalex.org/W2033423548","https://openalex.org/W2418669185","https://openalex.org/W1991020344","https://openalex.org/W3136315168","https://openalex.org/W2028679076"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1],"need":[2],"to":[3,90],"efficiently":[4],"walk":[5],"over":[6,165],"varied":[7],"surfaces":[8,21],"and":[9,23,39,60,74,105,121,135,152,177,194,207],"grasp":[10],"diverse":[11],"objects.":[12],"We":[13,169],"hypothesize":[14],"that":[15,84,162],"the":[16,64,72,77,92,132,144,147,155,171,175,190,204],"association":[17],"between":[18],"how":[19,24],"such":[20,52],"look":[22],"they":[25],"physically":[26],"react":[27],"during":[28],"contact":[29,103,106,133],"can":[30,88],"be":[31],"learned":[32],"from":[33,43],"a":[34,79,85,122,184,195],"database":[35],"of":[36,49,76,146,150,157],"matched":[37],"haptic":[38],"visual":[40],"data":[41,81,94,209],"recorded":[42],"various":[44],"end-effectors'":[45],"interactions":[46],"with":[47,154],"thousands":[48],"real-world":[50],"surfaces,":[51],"as":[53,181,183],"wood":[54],"flooring,":[55],"upholstered":[56],"fabric,":[57],"asphalt,":[58],"grass,":[59],"anodized":[61],"aluminum.":[62],"As":[63],"first":[65],"step":[66],"in":[67],"this":[68],"effort,":[69],"we":[70],"detail":[71,170],"design":[73],"construction":[75],"Proton,":[78],"multimodal":[80],"acquisition":[82],"system":[83],"human":[86,148],"operator":[87],"use":[89],"gather":[91],"envisioned":[93],"set.":[95],"Its":[96],"sensory":[97,167],"modalities":[98],"include":[99],"RGBD":[100],"vision,":[101],"egomotion,":[102],"force,":[104],"vibration.":[107],"Three":[108],"interchangeable":[109],"end-effectors":[110],"(a":[111],"SynTouch":[112],"BioTac":[113],"artificial":[114],"fingertip,":[115],"an":[116],"OptoForce":[117],"three-axis":[118],"force":[119,178,206],"sensor,":[120],"steel":[123],"tooling":[124,191],"ball)":[125],"allow":[126],"for":[127,174],"different":[128,166],"material":[129],"properties":[130],"at":[131],"point":[134],"provide":[136],"additional":[137],"tactile":[138],"data.":[139],"This":[140],"sensor":[141],"suite":[142],"emulates":[143],"capabilities":[145],"senses":[149],"vision":[151],"touch,":[153],"goal":[156],"learning":[158],"surface":[159,186],"classification":[160,212],"methods":[161],"are":[163],"robust":[164],"modalities.":[168],"calibration":[172],"process":[173],"motion":[176,197],"sensing":[179],"systems,":[180],"well":[182],"proof-of-concept":[185],"discrimination":[187],"experiment":[188],"using":[189],"ball":[192],"end-effector":[193],"Vicon":[196],"tracker.":[198],"A":[199],"multi-class":[200],"SVM":[201],"trained":[202],"on":[203],"collected":[205],"vibration":[208],"achieved":[210],"82.5%":[211],"accuracy":[213],"among":[214],"five":[215],"sample":[216],"surfaces.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}