{"id":"https://openalex.org/W4312692696","doi":"https://doi.org/10.1109/tcds.2022.3215021","title":"3-D Tactile-Based Object Recognition for Robot Hands Using Force-Sensitive and Bend Sensor Arrays","display_name":"3-D Tactile-Based Object Recognition for Robot Hands Using Force-Sensitive and Bend Sensor Arrays","publication_year":2022,"publication_date":"2022-11-03","ids":{"openalex":"https://openalex.org/W4312692696","doi":"https://doi.org/10.1109/tcds.2022.3215021"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3215021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3215021","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-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/A5046117737","display_name":"Xiong Lu","orcid":"https://orcid.org/0000-0002-4470-8516"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiong Lu","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4470-8516","affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076569240","display_name":"Hongbin Yin","orcid":"https://orcid.org/0000-0001-7719-3160"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Yin","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007171153","display_name":"Huafang Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huafang Xu","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014750007","display_name":"Yuxing Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxing Yan","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081980183","display_name":"Changcheng Wu","orcid":"https://orcid.org/0000-0002-1281-7881"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changcheng Wu","raw_affiliation_strings":["College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1281-7881","affiliations":[{"raw_affiliation_string":"College of Automation Engineering and the Key Laboratory of Non-Destructive Testing and Monitoring Technology for High-Speed Transport Facilities of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001170144","display_name":"Aaron Quigley","orcid":"https://orcid.org/0000-0002-5274-6889"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Aaron Quigley","raw_affiliation_strings":["School of Computer Science and Engineering, University of New South Wales, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5274-6889","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5046117737"],"corresponding_institution_ids":["https://openalex.org/I890469752","https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.2263,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.76762634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"15","issue":"4","first_page":"1645","last_page":"1655"},"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":0.9995999932289124,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9995999932289124,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8623783588409424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7684034109115601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7600438594818115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6762341260910034},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6397501230239868},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5410553216934204},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.44036397337913513},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4298374056816101},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3908745050430298}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8623783588409424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7684034109115601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7600438594818115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6762341260910034},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6397501230239868},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5410553216934204},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.44036397337913513},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4298374056816101},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3908745050430298}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3215021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3215021","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2972499585","display_name":null,"funder_award_id":"NJ2022016","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4549604746","display_name":null,"funder_award_id":"BK20211186","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G6504649014","display_name":null,"funder_award_id":"61773205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7020741585","display_name":null,"funder_award_id":"201906835020","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G7021755099","display_name":null,"funder_award_id":"NS2022040","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7674975473","display_name":null,"funder_award_id":"NS2019018","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1969299770","https://openalex.org/W1978464142","https://openalex.org/W2012265686","https://openalex.org/W2012571009","https://openalex.org/W2021314974","https://openalex.org/W2057299504","https://openalex.org/W2107415833","https://openalex.org/W2112036576","https://openalex.org/W2130695501","https://openalex.org/W2134147052","https://openalex.org/W2139212933","https://openalex.org/W2171130677","https://openalex.org/W2562454978","https://openalex.org/W2574828508","https://openalex.org/W2787059376","https://openalex.org/W2809670021","https://openalex.org/W2901110287","https://openalex.org/W2911964244","https://openalex.org/W2912845611","https://openalex.org/W2947434510","https://openalex.org/W2956872328","https://openalex.org/W2957584077","https://openalex.org/W2967509406","https://openalex.org/W2998768810","https://openalex.org/W3004358360","https://openalex.org/W3007691328","https://openalex.org/W3016045521","https://openalex.org/W3018423233","https://openalex.org/W3038416214","https://openalex.org/W3112665924","https://openalex.org/W3129842436","https://openalex.org/W3130510173","https://openalex.org/W3130589561","https://openalex.org/W3132016146","https://openalex.org/W3138533657","https://openalex.org/W3160888325","https://openalex.org/W3169984014","https://openalex.org/W3200272785","https://openalex.org/W4256443917","https://openalex.org/W4285252628","https://openalex.org/W7075577082"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"Tactile":[0],"sensing":[1],"is":[2],"a":[3,10,21,31,41,53,97],"particularly":[4],"important":[5],"and":[6,24,52,72,124,127,130,165,174,206,209],"challenging":[7],"task":[8],"for":[9,35,86,92,210],"modern":[11],"robot":[12,99],"to":[13,169],"safely":[14],"manipulate":[15],"objects,":[16],"interact":[17],"with":[18,37,96,112,140,183],"humans":[19],"in":[20,199,215],"shared":[22],"space,":[23],"provide":[25],"various":[26],"services.":[27],"This":[28],"article":[29],"presents":[30],"3-D":[32,142,162,192],"tactile":[33,82,143,163,180,193],"glove":[34,83,164,194],"robots":[36],"the":[38,49,61,80,90,141,154,166,202,212],"combination":[39],"of":[40,63,105,138,149,179,188,204],"piezoresistive-based":[42],"force":[43,155],"sensor":[44,56,156],"array":[45,57],"(412":[46],"sensors)":[47,59],"covering":[48],"full":[50],"hand":[51],"resistive":[54],"bend":[55],"(five":[58],"on":[60],"back":[62],"five":[64],"fingers.":[65],"Deep":[66],"learning-based":[67],"convolutional":[68],"neural":[69],"network":[70,75],"(CNN)":[71],"multilayer":[73],"perceptron":[74],"(MLP)":[76],"based":[77],"methods":[78,132],"using":[79,153],"designed":[81],"are":[84],"proposed":[85,191],"object":[87,181],"recognition.":[88],"In":[89],"experiment":[91],"recognizing":[93],"15":[94],"objects":[95,173],"dexterous":[98],"hand,":[100],"an":[101,134,146,184],"average":[102,135,185],"classification":[103],"accuracy":[104,137,147,187],"93.67%":[106],"has":[107],"been":[108],"achieved.":[109],"Comparison":[110],"experiments":[111],"three":[113,171],"other":[114,172],"typical":[115],"classifiers":[116],"(the":[117],"Quadratic":[118],"support":[119],"vector":[120],"machine,":[121],"weighted":[122],"KNN,":[123],"Bagged":[125],"Trees)":[126],"our":[128,161],"MLP":[129],"CNN":[131,168],"show":[133],"recognition":[136,182],"91.67%":[139],"glove,":[144],"revealing":[145],"improvement":[148],"4.17%":[150],"over":[151],"only":[152],"array.":[157],"We":[158],"further":[159,197],"apply":[160],"multimodal":[167],"identify":[170],"demonstrate":[175],"their":[176],"generalization":[177],"ability":[178],"success":[186],"78.33%.":[189],"The":[190],"can":[195],"be":[196],"used":[198],"human\u2013robot":[200],"interactions,":[201],"design":[203],"prosthetics":[205],"humanoid":[207],"robots,":[208],"improving":[211],"intelligence":[213],"level":[214],"brain\u2013computer":[216],"collaborative":[217],"systems.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}