{"id":"https://openalex.org/W4225159729","doi":"https://doi.org/10.1109/robosoft54090.2022.9762066","title":"Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors","display_name":"Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225159729","doi":"https://doi.org/10.1109/robosoft54090.2022.9762066"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/85854/2/Dawood%20Real-Time%20Pressure%20Estimation%202022%20Accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048015018","display_name":"Abu Bakar Dawood","orcid":"https://orcid.org/0000-0002-1800-7919"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Abu Bakar Dawood","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043392376","display_name":"Brice Denoun","orcid":"https://orcid.org/0000-0001-6481-2401"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Brice Denoun","raw_affiliation_strings":["School of Electronics Engineering and Computer Science, Queen Mary University of London,London,UK,E1 4NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics Engineering and Computer Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]},{"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/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London,London,UK,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048015018"],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":0.327,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.49741535,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"831","last_page":"836"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.998199999332428,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9929999709129333,"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/computer-science","display_name":"Computer science","score":0.6699873208999634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6609338521957397},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.5759847164154053},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.5316522717475891},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5297502279281616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5061394572257996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48721665143966675},{"id":"https://openalex.org/keywords/tomography","display_name":"Tomography","score":0.4741061329841614},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4396503269672394},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38775870203971863},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20365184545516968},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.13636437058448792},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08102545142173767}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699873208999634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6609338521957397},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.5759847164154053},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.5316522717475891},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5297502279281616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5061394572257996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48721665143966675},{"id":"https://openalex.org/C163716698","wikidata":"https://www.wikidata.org/wiki/Q841267","display_name":"Tomography","level":2,"score":0.4741061329841614},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4396503269672394},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38775870203971863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20365184545516968},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13636437058448792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08102545142173767},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/85854","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/85854","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/85854/2/Dawood%20Real-Time%20Pressure%20Estimation%202022%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/85854","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/85854","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/85854/2/Dawood%20Real-Time%20Pressure%20Estimation%202022%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4225159729.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1728842521","https://openalex.org/W1930624869","https://openalex.org/W1970495039","https://openalex.org/W2074746802","https://openalex.org/W2323956509","https://openalex.org/W2574828508","https://openalex.org/W2576246534","https://openalex.org/W2727434991","https://openalex.org/W2751959973","https://openalex.org/W2775635818","https://openalex.org/W2789489899","https://openalex.org/W2883279767","https://openalex.org/W2889529934","https://openalex.org/W2908762968","https://openalex.org/W2913446864","https://openalex.org/W2947760307","https://openalex.org/W2970010428","https://openalex.org/W2977568232","https://openalex.org/W2997289456","https://openalex.org/W3095708125","https://openalex.org/W3112864004","https://openalex.org/W3133069434","https://openalex.org/W3183670676","https://openalex.org/W4239510810","https://openalex.org/W4244895750","https://openalex.org/W6637572315"],"related_works":["https://openalex.org/W2097933059","https://openalex.org/W2374290272","https://openalex.org/W4386158748","https://openalex.org/W1970956258","https://openalex.org/W2408812858","https://openalex.org/W3127658115","https://openalex.org/W3152705324","https://openalex.org/W2303254066","https://openalex.org/W3214582440","https://openalex.org/W2554319443"],"abstract_inverted_index":{"Sensing":[0],"and":[1,11,97,129,148,170],"localising":[2],"pressure":[3,146,149,168],"resulting":[4],"from":[5],"physical":[6],"interaction":[7],"between":[8],"a":[9,15,42,51,77,166,184],"robot":[10],"its":[12],"environment":[13],"is":[14],"key":[16],"requirement":[17],"in":[18,24,34,76,83,143],"the":[19,31,73,91,100,110,114,137],"deployment":[20],"of":[21,69,113,145],"soft":[22,57,74],"robots":[23],"real-life":[25],"scenarios.":[26],"In":[27,46],"order":[28],"to":[29,118,126,178],"adapt":[30],"robot's":[32],"behaviour":[33],"real-time,":[35],"we":[36,49,86,140],"argue":[37],"that":[38,88,161],"sensors":[39],"must":[40],"have":[41],"high":[43],"sampling":[44,111,186],"rate.":[45,187],"this":[47],"paper,":[48],"present":[50],"novel":[52],"tactile":[53],"sensing":[54],"strategy":[55],"for":[56,165],"sensors,":[58],"based":[59],"on":[60,136],"an":[61,175],"imaging":[62],"technique":[63],"known":[64],"as":[65],"optical":[66],"tomography.":[67],"Instead":[68],"transmitting":[70],"light":[71,95,138],"through":[72,152],"sensor":[75,92,101,115],"sequential":[78],"way":[79],"(as":[80],"commonly":[81],"done":[82],"tomography":[84,120],"systems),":[85],"demonstrate":[87],"concurrently":[89,134],"illuminating":[90],"with":[93,174],"multiple":[94],"sources":[96],"reading":[98],"out":[99,158],"response":[102],"has":[103],"several":[104],"advantages.":[105],"Firstly,":[106],"it":[107,123],"drastically":[108],"increases":[109],"rate":[112],"when":[116],"compared":[117],"standard":[119],"approaches,":[121],"making":[122],"more":[124],"suitable":[125],"sense":[127],"sudden":[128],"short-lived":[130],"contacts.":[131],"Secondly,":[132],"by":[133],"switching":[135],"sources,":[139],"increase":[141],"performance":[142],"terms":[144],"localisation":[147,173],"estimation":[150,169],"achieved":[151],"Machine":[153],"Learning":[154],"techniques.":[155],"We":[156],"carry":[157],"experiments":[159],"demonstrating":[160],"our":[162],"approach":[163],"allows":[164],"robust":[167],"contact":[171],"point":[172],"accuracy":[176],"up":[177],"91.1":[179],"%":[180],"(vs":[181],"70.3%)":[182],"at":[183],"higher":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
