{"id":"https://openalex.org/W4407403314","doi":"https://doi.org/10.1109/sii59315.2025.10870913","title":"Multifingered Object Recognition with Tactile Sensors and Graph Convolutional Networks using Topological Graph Segmentation","display_name":"Multifingered Object Recognition with Tactile Sensors and Graph Convolutional Networks using Topological Graph Segmentation","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403314","doi":"https://doi.org/10.1109/sii59315.2025.10870913"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10870913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5023646170","display_name":"Shardul Kulkarni","orcid":"https://orcid.org/0000-0002-5442-8788"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shardul Kulkarni","raw_affiliation_strings":["Waseda University,Shinjuku, Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Shinjuku, Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085522265","display_name":"Satoshi Funabashi","orcid":"https://orcid.org/0000-0002-6381-3522"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Funabashi","raw_affiliation_strings":["Waseda University,Shinjuku, Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Shinjuku, Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035429819","display_name":"Alexander Schmitz","orcid":"https://orcid.org/0000-0002-8962-771X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexander Schmitz","raw_affiliation_strings":["Waseda University,Shinjuku, Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Shinjuku, Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055922202","display_name":"Tetsuya Ogata","orcid":"https://orcid.org/0000-0001-7015-0379"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ogata","raw_affiliation_strings":["Waseda University,Shinjuku, Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Shinjuku, Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Waseda University,Shinjuku, Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Shinjuku, Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"671","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9483000040054321,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9483000040054321,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13731","display_name":"Advanced Computing and Algorithms","score":0.930400013923645,"subfield":{"id":"https://openalex.org/subfields/3322","display_name":"Urban Studies"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6638387441635132},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5596498847007751},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5046159029006958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4608980715274811},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4471582770347595},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.38561302423477173},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36529970169067383},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21603932976722717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13919204473495483},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.0962975025177002}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6638387441635132},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5596498847007751},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5046159029006958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4608980715274811},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4471582770347595},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.38561302423477173},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36529970169067383},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21603932976722717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13919204473495483},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0962975025177002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10870913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2003022764","https://openalex.org/W2113767324","https://openalex.org/W2166527963","https://openalex.org/W2216666738","https://openalex.org/W2344872270","https://openalex.org/W2558748708","https://openalex.org/W2781826633","https://openalex.org/W2940682483","https://openalex.org/W2955383310","https://openalex.org/W2979098108","https://openalex.org/W3112688927","https://openalex.org/W3130631955","https://openalex.org/W3131225419","https://openalex.org/W3131444756","https://openalex.org/W3148711710","https://openalex.org/W3197020589","https://openalex.org/W4206234515","https://openalex.org/W4226088469","https://openalex.org/W4285818223","https://openalex.org/W4304142231","https://openalex.org/W4308180768","https://openalex.org/W4383108317","https://openalex.org/W4385627502","https://openalex.org/W4387448583","https://openalex.org/W4391936013","https://openalex.org/W6676285034","https://openalex.org/W6702191537","https://openalex.org/W6757374366","https://openalex.org/W6761976745","https://openalex.org/W6765680716"],"related_works":["https://openalex.org/W4379231730","https://openalex.org/W4389858081","https://openalex.org/W2501551404","https://openalex.org/W4298131179","https://openalex.org/W2113201962","https://openalex.org/W4385583601","https://openalex.org/W4395685956","https://openalex.org/W3159516372","https://openalex.org/W4398146871","https://openalex.org/W3204400600"],"abstract_inverted_index":{"This":[0,170],"study":[1,171],"investigates":[2],"the":[3,33,123,173],"application":[4,175],"of":[5,36,59,144,176],"topological":[6,60,116,159,177],"segmentation":[7,50,61,117,133,149,160,178],"to":[8,167,179],"Graph":[9],"Convolutional":[10],"Networks":[11],"(GCNs)":[12],"for":[13,62,154,181,204],"object":[14,119,189],"recognition":[15,120,129,190],"using":[16,84,131],"tactile":[17,31,40,89,106,135,182],"data":[18,37],"from":[19,38,99],"a":[20,80,127],"multi-fingered":[21],"robotic":[22,185,211],"hand.":[23],"While":[24],"GCNs":[25,180],"have":[26],"shown":[27],"promise":[28],"in":[29,51,184,209],"processing":[30,183],"information,":[32],"large":[34],"volume":[35],"distributed":[39],"sensors":[41],"poses":[42],"challenges.":[43],"Inspired":[44],"by":[45,65,71],"neurological":[46],"research":[47],"indicating":[48],"intra-digit":[49],"human":[52],"hand":[53,156],"topology,":[54],"we":[55],"propose":[56],"two":[57],"methods":[58,78,150],"GCNs:":[63],"segmenting":[64,70],"digits":[66],"and":[67,69,93,134,192,207],"palm,":[68],"individual":[72],"skin":[73],"patches.":[74],"We":[75],"evaluate":[76],"these":[77],"against":[79],"non-segmented":[81,168],"GCN":[82,145],"baseline":[83],"various":[85],"input":[86],"modalities":[87],"including":[88],"features,":[90],"taxel":[91],"positions,":[92],"joint":[94,138],"angles.":[95],"Data":[96],"was":[97],"collected":[98],"an":[100],"Allegro":[101],"Hand":[102],"equipped":[103],"with":[104,122,137],"uSkin":[105],"sensors,":[107],"manipulating":[108],"eight":[109],"everyday":[110],"objects.":[111],"Our":[112],"results":[113],"demonstrate":[114],"that":[115,148],"enhances":[118],"performance,":[121],"best":[124],"model":[125],"achieving":[126,187],"92.92%":[128],"rate":[130],"patch-level":[132],"features":[136,146],"angles":[139],"as":[140],"input.":[141],"UMAP":[142],"analysis":[143],"reveals":[147],"produce":[151],"distinct":[152],"representations":[153],"each":[155],"segment.":[157],"Additionally,":[158],"significantly":[161],"reduces":[162],"computational":[163],"resource":[164],"requirements":[165],"compared":[166],"GCNs.":[169],"contributes":[172],"first":[174],"hands,":[186],"high":[188],"rates":[191],"providing":[193],"insights":[194],"into":[195],"feature":[196],"extraction":[197],"capabilities.":[198],"The":[199],"proposed":[200],"method":[201],"shows":[202],"potential":[203],"improving":[205],"efficiency":[206],"performance":[208],"tactile-based":[210],"manipulation":[212],"tasks.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
