{"id":"https://openalex.org/W4385062278","doi":"https://doi.org/10.1109/tcds.2023.3297361","title":"A Bioinspired Multifunctional Tendon-Driven Tactile Sensor and Application in Obstacle Avoidance Using Reinforcement Learning","display_name":"A Bioinspired Multifunctional Tendon-Driven Tactile Sensor and Application in Obstacle Avoidance Using Reinforcement Learning","publication_year":2023,"publication_date":"2023-07-20","ids":{"openalex":"https://openalex.org/W4385062278","doi":"https://doi.org/10.1109/tcds.2023.3297361"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2023.3297361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3297361","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/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["Faculty of Environment and Technology and the Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5446-7285","affiliations":[{"raw_affiliation_string":"Faculty of Environment and Technology and the Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019182690","display_name":"Zhou Zhao","orcid":"https://orcid.org/0000-0002-6547-646X"},"institutions":[{"id":"https://openalex.org/I40963666","display_name":"Central China Normal University","ror":"https://ror.org/03x1jna21","country_code":"CN","type":"education","lineage":["https://openalex.org/I40963666"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou Zhao","raw_affiliation_strings":["School of Computer Science, Central China Normal University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-6547-646X","affiliations":[{"raw_affiliation_string":"School of Computer Science, Central China Normal University, Wuhan, China","institution_ids":["https://openalex.org/I40963666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011613613","display_name":"Tianqi Yue","orcid":"https://orcid.org/0000-0001-9746-7376"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tianqi Yue","raw_affiliation_strings":["Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9746-7376","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078700329","display_name":"Xu Zhu","orcid":"https://orcid.org/0000-0003-4276-7691"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xu Zhu","raw_affiliation_strings":["Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100387137","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0002-3264-1852"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["Faculty of Environment and Technology and the Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3264-1852","affiliations":[{"raw_affiliation_string":"Faculty of Environment and Technology and the Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1629,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.36963875,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"16","issue":"2","first_page":"407","last_page":"415"},"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":0.9986000061035156,"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":0.9986000061035156,"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":0.9975000023841858,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7913446426391602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7828128337860107},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6652096509933472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6169472932815552},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.4922703802585602},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4803718030452728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4687260389328003},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46815967559814453},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44286733865737915},{"id":"https://openalex.org/keywords/contact-area","display_name":"Contact area","score":0.42913031578063965},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.42033469676971436},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41852840781211853},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.41100814938545227},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.336111843585968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16959530115127563}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7913446426391602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7828128337860107},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6652096509933472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6169472932815552},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.4922703802585602},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4803718030452728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4687260389328003},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46815967559814453},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44286733865737915},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.42913031578063965},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.42033469676971436},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41852840781211853},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.41100814938545227},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.336111843585968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16959530115127563},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcds.2023.3297361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3297361","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"},{"id":"pmh:oai:shura.shu.ac.uk:36263","is_oa":false,"landing_page_url":"http://orcid.org/0000-0002-5446-7285>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306401600","display_name":"SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71422933","host_organization_name":"Sheffield Hallam University","host_organization_lineage":["https://openalex.org/I71422933"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G5038672026","display_name":"Learn to learn human learning process from teleoperated demonstrations","funder_award_id":"101030691","funder_id":"https://openalex.org/F4320338337","funder_display_name":"H2020 Marie Sk\u0142odowska-Curie Actions"}],"funders":[{"id":"https://openalex.org/F4320338337","display_name":"H2020 Marie Sk\u0142odowska-Curie Actions","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1027072212","https://openalex.org/W1522301498","https://openalex.org/W1914219707","https://openalex.org/W2116113389","https://openalex.org/W2125612430","https://openalex.org/W2137436420","https://openalex.org/W2145339207","https://openalex.org/W2569244399","https://openalex.org/W2736601468","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2868153330","https://openalex.org/W2963351448","https://openalex.org/W2963446712","https://openalex.org/W2967244466","https://openalex.org/W2997199480","https://openalex.org/W3008303301","https://openalex.org/W3011275252","https://openalex.org/W3015462157","https://openalex.org/W3100818121","https://openalex.org/W3112669067","https://openalex.org/W3178189456","https://openalex.org/W3205115400","https://openalex.org/W3206682671","https://openalex.org/W4285232917","https://openalex.org/W4310915349","https://openalex.org/W6631190155","https://openalex.org/W6638444622","https://openalex.org/W6640015359","https://openalex.org/W6684191040","https://openalex.org/W6696879442","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W2005490261","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450","https://openalex.org/W2040114039","https://openalex.org/W2027665490","https://openalex.org/W2106712047"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,31,95,111,118,144],"new":[4,156],"bioinspired":[5],"tactile":[6,157],"sensor":[7,65,158],"that":[8],"is":[9,20,23,30,41,45,66,159,178],"multifunctional":[10],"and":[11,22,44,91,106,131,152,172],"has":[12],"different":[13,129],"sensitivity":[14],"contact":[15,51,190],"areas.":[16,52],"The":[17,113,140],"TacTop":[18,62],"area":[19,40,59],"sensitive":[21,43],"used":[24,46],"for":[25,149,161,180],"object":[26,150],"classification":[27],"when":[28],"there":[29],"direct":[32],"contact.":[33],"On":[34],"the":[35,38,49,57,61,64,74,79,85,108,137,155,194,197,205],"other":[36],"hand,":[37],"TacSide":[39,58],"less":[42],"to":[47,60,68,127,183],"localize":[48],"side":[50],"By":[53],"connecting":[54],"tendons":[55],"from":[56,84,169],"area,":[63],"able":[67],"perform":[69],"multiple":[70],"detection":[71],"functions":[72,130],"using":[73],"same":[75],"expression":[76,86],"region.":[77],"For":[78],"mixed":[80],"contacting":[81],"signals":[82],"collected":[83],"region":[87],"with":[88,123],"numerous":[89],"markers":[90],"pins,":[92],"we":[93],"build":[94],"modified":[96],"DenseNet121":[97],"network":[98],"which":[99],"specifically":[100],"removes":[101],"all":[102],"fully":[103],"connected":[104],"layers":[105],"keeps":[107],"rest":[109],"as":[110],"subnetwork.":[112],"proposed":[114,198],"model":[115],"also":[116],"contains":[117],"global":[119],"average":[120],"pooling":[121],"layer":[122],"two":[124],"branching":[125],"networks":[126],"handle":[128],"provide":[132],"accurate":[133],"spatial":[134],"translation":[135],"of":[136,147,196],"extracted":[138,168],"features.":[139],"experimental":[141],"results":[142],"demonstrate":[143],"high-prediction":[145],"accuracy":[146],"98%":[148],"perception":[151],"localization.":[153],"Furthermore,":[154],"utilized":[160],"obstacle":[162],"avoidance,":[163],"where":[164],"action":[165,175],"skills":[166],"are":[167,202],"human":[170],"demonstrations":[171],"then":[173],"an":[174],"data":[176],"set":[177],"generated":[179],"reinforcement":[181],"learning":[182],"guide":[184],"robots":[185],"toward":[186],"correct":[187],"responses":[188],"after":[189],"detection.":[191],"To":[192],"evaluate":[193],"effectiveness":[195],"framework,":[199],"several":[200],"simulations":[201],"performed":[203],"in":[204],"MuJoCo":[206],"environment.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
