{"id":"https://openalex.org/W4415934106","doi":"https://doi.org/10.1109/tie.2025.3613656","title":"Efficient Tactile Perception With Soft Electrical Impedance Tomography and Pretrained Transformer","display_name":"Efficient Tactile Perception With Soft Electrical Impedance Tomography and Pretrained Transformer","publication_year":2025,"publication_date":"2025-11-05","ids":{"openalex":"https://openalex.org/W4415934106","doi":"https://doi.org/10.1109/tie.2025.3613656"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3613656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3613656","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5037941355","display_name":"Huazhi Dong","orcid":"https://orcid.org/0009-0006-8376-1594"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Huazhi Dong","raw_affiliation_strings":["SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0009-0006-8376-1594","affiliations":[{"raw_affiliation_string":"SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104257870","display_name":"Ronald B. Liu","orcid":"https://orcid.org/0000-0003-2542-884X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald B. Liu","raw_affiliation_strings":["SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2542-884X","affiliations":[{"raw_affiliation_string":"SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001356837","display_name":"Sihao Teng","orcid":"https://orcid.org/0009-0002-3379-5164"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sihao Teng","raw_affiliation_strings":["SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0009-0002-3379-5164","affiliations":[{"raw_affiliation_string":"SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087250419","display_name":"Delin Hu","orcid":"https://orcid.org/0000-0002-2441-6057"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Delin Hu","raw_affiliation_strings":["SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2441-6057","affiliations":[{"raw_affiliation_string":"SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111263415","display_name":"Sharel Peisan E","orcid":"https://orcid.org/0000-0003-1947-8904"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sharel Peisan E","raw_affiliation_strings":["Institute for Bioengineering, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1947-8904","affiliations":[{"raw_affiliation_string":"Institute for Bioengineering, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039381590","display_name":"Francesco Giorgio-Serchi","orcid":"https://orcid.org/0000-0002-5090-9007"},"institutions":[{"id":"https://openalex.org/I4210087927","display_name":"National Microelectronics Institute","ror":"https://ror.org/003ck6433","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210087927"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francesco Giorgio-Serchi","raw_affiliation_strings":["Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5090-9007","affiliations":[{"raw_affiliation_string":"Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I4210087927","https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044092715","display_name":"Yunjie Yang","orcid":"https://orcid.org/0000-0002-5797-9753"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yunjie Yang","raw_affiliation_strings":["SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5797-9753","affiliations":[{"raw_affiliation_string":"SMART Group, Institute for Imaging, Data and Communications, School of Engineering, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3306,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57117006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":"3","first_page":"4977","last_page":"4988"},"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":0.9344000220298767,"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":0.9344000220298767,"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.019200000911951065,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10868","display_name":"Soft Robotics and Applications","score":0.008100000210106373,"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":0.5947999954223633},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5943999886512756},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5746999979019165},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5293999910354614},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5131999850273132},{"id":"https://openalex.org/keywords/electrical-impedance-tomography","display_name":"Electrical impedance tomography","score":0.5062999725341797},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.4478999972343445}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6952000260353088},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5947999954223633},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5943999886512756},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5746999979019165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5667999982833862},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5293999910354614},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5131999850273132},{"id":"https://openalex.org/C155175808","wikidata":"https://www.wikidata.org/wiki/Q1326472","display_name":"Electrical impedance tomography","level":3,"score":0.5062999725341797},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4677000045776367},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.4478999972343445},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.26190000772476196},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.257999986410141}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3613656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3613656","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1992312940","https://openalex.org/W2056132468","https://openalex.org/W2093495347","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2749919169","https://openalex.org/W2769112066","https://openalex.org/W2888659593","https://openalex.org/W2899614114","https://openalex.org/W2963495494","https://openalex.org/W2980753437","https://openalex.org/W3036319245","https://openalex.org/W3088310808","https://openalex.org/W3119601298","https://openalex.org/W3123906210","https://openalex.org/W3127756416","https://openalex.org/W3130589561","https://openalex.org/W3136239642","https://openalex.org/W3153587134","https://openalex.org/W3201805278","https://openalex.org/W3209243150","https://openalex.org/W4282912956","https://openalex.org/W4312349825","https://openalex.org/W4313156423","https://openalex.org/W4388653221","https://openalex.org/W4389610091","https://openalex.org/W4390968860","https://openalex.org/W4392969763","https://openalex.org/W4395680450","https://openalex.org/W4400849661","https://openalex.org/W4401414864","https://openalex.org/W4402666548","https://openalex.org/W4403021881","https://openalex.org/W4404840320","https://openalex.org/W4408017368","https://openalex.org/W4409326480","https://openalex.org/W4411193855"],"related_works":[],"abstract_inverted_index":{"Tactile":[0],"sensing":[1,22,39,191],"is":[2],"fundamental":[3],"to":[4,48,140,153],"robotic":[5],"systems,":[6],"enabling":[7],"interactions":[8],"through":[9],"physical":[10],"contact":[11,51],"in":[12,53,77,167,178,193],"multiple":[13],"tasks.":[14],"Despite":[15],"its":[16,75],"importance,":[17],"achieving":[18,134,161],"high-resolution,":[19],"large-area":[20],"tactile":[21,38,58,92,190],"remains":[23],"challenging.":[24],"Electrical":[25],"impedance":[26],"tomography":[27],"(EIT)":[28],"has":[29],"emerged":[30],"as":[31,183],"a":[32,87,95,184],"promising":[33],"approach":[34],"for":[35,90,189,196],"large-area,":[36],"distributed":[37],"with":[40,112,147],"minimal":[41],"electrode":[42],"requirements":[43],"which":[44],"can":[45],"lend":[46],"itself":[47],"addressing":[49],"complex":[50],"problems":[52],"robotics.":[54],"However,":[55],"existing":[56],"EIT-based":[57,91],"reconstruction":[59,93,135,163,172],"methods":[60],"often":[61],"suffer":[62],"from":[63],"high":[64],"computational":[65],"costs":[66],"or":[67],"depend":[68],"on":[69,107],"extensive":[70],"annotated":[71,122],"simulation":[72,108],"datasets,":[73,160],"hindering":[74],"viability":[76],"real-world":[78,114,148,179],"settings.":[79],"To":[80],"address":[81],"this":[82],"shortcoming,":[83],"here":[84],"we":[85],"propose":[86],"pretrained":[88],"transformer":[89],"(PTET),":[94],"learning-based":[96],"framework":[97],"that":[98],"bridges":[99],"the":[100],"simulation-to-reality":[101],"gap":[102],"by":[103],"leveraging":[104],"self-supervised":[105],"pretraining":[106],"data":[109,144,149,174],"and":[110,158,164,176,186,199],"fine-tuning":[111],"limited":[113],"data.":[115],"In":[116],"simulations,":[117],"PTET":[118,152],"requires":[119],"99.44%":[120],"fewer":[121],"samples":[123],"than":[124],"equivalent":[125],"state-of-the-art":[126],"approaches":[127],"(2500":[128],"versus":[129],"450":[130],"000":[131],"samples)":[132],"while":[133],"performance":[136],"improvements":[137],"of":[138],"up":[139],"43.57%":[141],"under":[142,202],"identical":[143],"conditions.":[145,205],"Fine-tuning":[146],"further":[150],"enables":[151],"overcome":[154],"discrepancies":[155],"between":[156],"simulated":[157],"experimental":[159],"superior":[162],"detail":[165],"recovery":[166],"practical":[168,187],"scenarios.":[169],"PTET\u2019s":[170],"improved":[171],"accuracy,":[173],"efficiency,":[175],"robustness":[177],"tasks":[180],"establish":[181],"it":[182],"scalable":[185],"solution":[188],"systems":[192],"robotics,":[194],"especially":[195],"object":[197],"handling":[198],"adaptive":[200],"grasping":[201],"varying":[203],"pressure":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-11-05T00:00:00"}