{"id":"https://openalex.org/W2345650853","doi":"https://doi.org/10.1109/toh.2016.2558180","title":"Biomimetic Active Touch with Fingertips and Whiskers","display_name":"Biomimetic Active Touch with Fingertips and Whiskers","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2345650853","doi":"https://doi.org/10.1109/toh.2016.2558180","mag":"2345650853","pmid":"https://pubmed.ncbi.nlm.nih.gov/27168603"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2016.2558180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2016.2558180","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/toh.2016.2558180","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"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":true,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["Department of Engineering Mathematics, and Bristol Robotics Laboratory, The University of Bristol, Bristol, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, and Bristol Robotics Laboratory, The University of Bristol, Bristol, United Kingdom","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015897265"],"corresponding_institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":4.0064,"has_fulltext":true,"cited_by_count":50,"citation_normalized_percentile":{"value":0.93906783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"170","last_page":"183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9986000061035156,"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":0.9921000003814697,"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/icub","display_name":"iCub","score":0.8542563319206238},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.7543818950653076},{"id":"https://openalex.org/keywords/hyperacuity","display_name":"Hyperacuity","score":0.7223659753799438},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6868924498558044},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.6846116781234741},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.6097131967544556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.56884765625},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.5230792164802551},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46428170800209045},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4627980887889862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45597800612449646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3556544780731201},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35080766677856445},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.17965811491012573},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.17533868551254272},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16782408952713013},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.08990022540092468}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.8542563319206238},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.7543818950653076},{"id":"https://openalex.org/C131970427","wikidata":"https://www.wikidata.org/wiki/Q17028356","display_name":"Hyperacuity","level":2,"score":0.7223659753799438},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6868924498558044},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.6846116781234741},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.6097131967544556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.56884765625},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.5230792164802551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46428170800209045},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4627980887889862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45597800612449646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3556544780731201},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35080766677856445},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.17965811491012573},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.17533868551254272},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16782408952713013},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.08990022540092468}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010812","descriptor_name":"Physical Stimulation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D010812","descriptor_name":"Physical Stimulation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D010812","descriptor_name":"Physical Stimulation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1109/toh.2016.2558180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2016.2558180","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},{"id":"pmid:27168603","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27168603","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/3c134c9d-d94c-42a0-b7cd-9113478ff053","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/3c134c9d-d94c-42a0-b7cd-9113478ff053","pdf_url":"https://research-information.bris.ac.uk/files/78636887/07466131.pdf","source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lepora, N F 2016, 'Biomimetic Active Touch with Fingertips and Whiskers', IEEE Transactions on Haptics, vol. 9, no. 2, 7466131, pp. 170-183. https://doi.org/10.1109/TOH.2016.2558180","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/3c134c9d-d94c-42a0-b7cd-9113478ff053","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84976428170&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1109/toh.2016.2558180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2016.2558180","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3668522468","display_name":null,"funder_award_id":"EP/M02993X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4304365992","display_name":"Tactile superresolution sensing","funder_award_id":"EP/M02993X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W87313936","https://openalex.org/W1562619787","https://openalex.org/W1588691653","https://openalex.org/W1593079125","https://openalex.org/W1840218356","https://openalex.org/W1901081280","https://openalex.org/W1907987801","https://openalex.org/W1919477892","https://openalex.org/W1938892272","https://openalex.org/W1965878045","https://openalex.org/W1969299770","https://openalex.org/W1972265563","https://openalex.org/W1987447621","https://openalex.org/W1987508268","https://openalex.org/W2012037220","https://openalex.org/W2013598081","https://openalex.org/W2017122590","https://openalex.org/W2030204236","https://openalex.org/W2032764159","https://openalex.org/W2032895210","https://openalex.org/W2039170454","https://openalex.org/W2044669108","https://openalex.org/W2050692652","https://openalex.org/W2062663684","https://openalex.org/W2062876937","https://openalex.org/W2066931620","https://openalex.org/W2075654868","https://openalex.org/W2077666949","https://openalex.org/W2077777602","https://openalex.org/W2079813462","https://openalex.org/W2080317558","https://openalex.org/W2087154119","https://openalex.org/W2087894141","https://openalex.org/W2087959816","https://openalex.org/W2098205603","https://openalex.org/W2101382642","https://openalex.org/W2101511752","https://openalex.org/W2109995759","https://openalex.org/W2110525007","https://openalex.org/W2117391338","https://openalex.org/W2117495877","https://openalex.org/W2120350910","https://openalex.org/W2125328830","https://openalex.org/W2133835651","https://openalex.org/W2134663441","https://openalex.org/W2141341341","https://openalex.org/W2143825860","https://openalex.org/W2144764737","https://openalex.org/W2145149052","https://openalex.org/W2147449010","https://openalex.org/W2148663025","https://openalex.org/W2159863808","https://openalex.org/W2160845585","https://openalex.org/W2161833526","https://openalex.org/W2162323183","https://openalex.org/W2168448228","https://openalex.org/W2168986765","https://openalex.org/W2169991067","https://openalex.org/W2170545853","https://openalex.org/W2180477471","https://openalex.org/W2200175238","https://openalex.org/W2281770328","https://openalex.org/W2293701398","https://openalex.org/W2296039540","https://openalex.org/W2397232755","https://openalex.org/W2512469588","https://openalex.org/W2794957743","https://openalex.org/W4206393329","https://openalex.org/W4211131370","https://openalex.org/W4230083084","https://openalex.org/W4231002530","https://openalex.org/W4242980136","https://openalex.org/W6603470988","https://openalex.org/W6640177214","https://openalex.org/W6681665583"],"related_works":["https://openalex.org/W1974641664","https://openalex.org/W1999181826","https://openalex.org/W2767442953","https://openalex.org/W2017122590","https://openalex.org/W2981111762","https://openalex.org/W2345650853","https://openalex.org/W2071795074","https://openalex.org/W2220054658","https://openalex.org/W4388576615","https://openalex.org/W2091930462"],"abstract_inverted_index":{"This":[0],"study":[1],"provides":[2],"a":[3,16,95,106,117,156],"synthetic":[4],"viewpoint":[5],"that":[6],"compares,":[7],"contrasts,":[8],"and":[9,21,56,86,101,103,165,168],"draws":[10],"commonalities":[11],"for":[12,159],"biomimetic":[13,72,118,160],"perception":[14,26,109,115,128,137],"over":[15],"range":[17],"of":[18,39,60,70,99],"tactile":[19,22,73,84,108,149,161],"sensors":[20,74,162],"stimuli.":[23],"Biomimetic":[24,151],"active":[25,114,136,152],"is":[27],"formulated":[28],"from":[29],"three":[30,71],"principles:":[31],"(i)":[32],"evidence":[33,61],"accumulation":[34],"based":[35,51,62,122],"on":[36,52,63,123],"leading":[37],"models":[38],"perceptual":[40],"decision":[41],"making;":[42],"(ii)":[43],"action":[44,119,133],"selection":[45,120],"with":[46,68,116,129],"an":[47],"evidence-based":[48],"policy,":[49],"here":[50],"overt":[53],"focal":[54,124],"attention;":[55],"(iii)":[57],"sensory":[58],"encoding":[59],"neural":[64],"coding.":[65],"Two":[66],"experiments":[67],"each":[69,90],"are":[75],"considered:":[76],"the":[77,81,104,146,178],"iCub":[78],"(capacitive)":[79],"fingertip,":[80],"TacTip":[82],"(optical)":[83],"sensor,":[85,91],"BIOTACT":[87],"whiskers.":[88],"For":[89],"one":[92],"experiment":[93],"considers":[94],"similar":[96],"task":[97],"(perception":[98],"shape":[100],"location)":[102],"other":[105],"different":[107],"task.":[110],"In":[111],"all":[112],"experiments,":[113],"policy":[121],"attention":[125],"outperforms":[126],"passive":[127],"static":[130],"or":[131],"random":[132],"selection.":[134],"The":[135],"also":[138],"consistently":[139],"reaches":[140],"superresolved":[141],"accuracy":[142],"(hyperacuity)":[143],"finer":[144],"than":[145],"spacing":[147],"between":[148],"elements.":[150],"touch":[153],"thus":[154],"offers":[155],"common":[157],"approach":[158],"to":[163,174],"accurately":[164],"robustly":[166],"characterize":[167],"explore":[169],"non-trivial,":[170],"uncertain":[171],"environments":[172],"analogous":[173],"how":[175],"animals":[176],"perceive":[177],"natural":[179],"world.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":7}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
