{"id":"https://openalex.org/W2790253550","doi":"https://doi.org/10.3390/s18020351","title":"A Novel Inverse Solution of Contact Force Based on a Sparse Tactile Sensor Array","display_name":"A Novel Inverse Solution of Contact Force Based on a Sparse Tactile Sensor Array","publication_year":2018,"publication_date":"2018-01-26","ids":{"openalex":"https://openalex.org/W2790253550","doi":"https://doi.org/10.3390/s18020351","mag":"2790253550","pmid":"https://pubmed.ncbi.nlm.nih.gov/29373489"},"language":"en","primary_location":{"id":"doi:10.3390/s18020351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020351","pdf_url":"https://www.mdpi.com/1424-8220/18/2/351/pdf?version=1516947399","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/2/351/pdf?version=1516947399","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100658496","display_name":"Weiting Liu","orcid":"https://orcid.org/0000-0003-0035-2500"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiting Liu","raw_affiliation_strings":["The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009456342","display_name":"Chunxin Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunxin Gu","raw_affiliation_strings":["The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020555753","display_name":"Ruimin Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruimin Zeng","raw_affiliation_strings":["The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101754565","display_name":"Ping Yu","orcid":"https://orcid.org/0000-0002-9887-8756"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Yu","raw_affiliation_strings":["The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101402538","display_name":"Xin Fu","orcid":"https://orcid.org/0000-0002-1941-6431"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Fu","raw_affiliation_strings":["The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power & Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009456342"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.2837,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.77974626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"18","issue":"2","first_page":"351","last_page":"351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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":0.9998000264167786,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6758615374565125},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5106764435768127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.481502890586853},{"id":"https://openalex.org/keywords/sensor-array","display_name":"Sensor array","score":0.4790428876876831},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47565123438835144},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.44327372312545776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37285947799682617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3507242798805237},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23285210132598877},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22463130950927734},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11264419555664062},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10155043005943298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08500581979751587},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08038720488548279}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6758615374565125},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5106764435768127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.481502890586853},{"id":"https://openalex.org/C66251956","wikidata":"https://www.wikidata.org/wiki/Q7451086","display_name":"Sensor array","level":2,"score":0.4790428876876831},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47565123438835144},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.44327372312545776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37285947799682617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3507242798805237},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23285210132598877},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22463130950927734},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11264419555664062},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10155043005943298},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08500581979751587},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08038720488548279}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18020351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020351","pdf_url":"https://www.mdpi.com/1424-8220/18/2/351/pdf?version=1516947399","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:29373489","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29373489","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:280ad5822c344e6485cd36941e335c12","is_oa":true,"landing_page_url":"https://doaj.org/article/280ad5822c344e6485cd36941e335c12","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 18, Iss 2, p 351 (2018)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/2/351/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18020351","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 18; Issue 2; Pages: 351","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5854967","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5854967","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18020351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020351","pdf_url":"https://www.mdpi.com/1424-8220/18/2/351/pdf?version=1516947399","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.5299999713897705,"display_name":"Reduced inequalities"},{"id":"https://metadata.un.org/sdg/16","score":0.4000000059604645,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G5088868329","display_name":null,"funder_award_id":"51521064","funder_id":"https://openalex.org/F4320322271","funder_display_name":"Science Fund for Creative Research Groups"},{"id":"https://openalex.org/G6103285000","display_name":null,"funder_award_id":"2011CB013303","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7907732557","display_name":null,"funder_award_id":"51521064","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G947427576","display_name":null,"funder_award_id":"51521064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322271","display_name":"Science Fund for Creative Research Groups","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2790253550.pdf","grobid_xml":"https://content.openalex.org/works/W2790253550.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1964501408","https://openalex.org/W1970495039","https://openalex.org/W2013598081","https://openalex.org/W2048273068","https://openalex.org/W2062994334","https://openalex.org/W2070970799","https://openalex.org/W2079001832","https://openalex.org/W2080317558","https://openalex.org/W2083300563","https://openalex.org/W2084615382","https://openalex.org/W2089981221","https://openalex.org/W2096206069","https://openalex.org/W2107415833","https://openalex.org/W2112584720","https://openalex.org/W2119350773","https://openalex.org/W2123423228","https://openalex.org/W2127045241","https://openalex.org/W2131341196","https://openalex.org/W2138648596","https://openalex.org/W2147184921","https://openalex.org/W2149389784","https://openalex.org/W2158076978","https://openalex.org/W2158333529","https://openalex.org/W2158662820","https://openalex.org/W2163565585","https://openalex.org/W2167287337","https://openalex.org/W2170553811","https://openalex.org/W2171130677","https://openalex.org/W2263753685","https://openalex.org/W2642103055","https://openalex.org/W2766945104","https://openalex.org/W6684124110"],"related_works":["https://openalex.org/W2520297743","https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2709287450","https://openalex.org/W3163427917","https://openalex.org/W2121836998","https://openalex.org/W2040114039","https://openalex.org/W3138533657"],"abstract_inverted_index":{"High-density":[0],"tactile":[1,54,138,206,215],"sensing":[2,97,110],"has":[3,177],"been":[4],"pursued":[5],"for":[6,212],"humanoid":[7],"robotic":[8],"hands":[9],"to":[10,23,33,42,90,105,116,167,218],"obtain":[11],"contact":[12,46],"force":[13,26,47,162,182],"information":[14],"while":[15],"the":[16,25,35,39,62,66,71,81,86,92,96,102,106,109,113,126,175,185,193,202,213],"elastomer":[17,40,82,143],"skin":[18],"cover":[19,41,144],"is":[20,210],"traditionally":[21],"considered":[22],"impair":[24],"discrimination.":[27],"In":[28],"this":[29],"work,":[30],"we":[31,60,79,100,129],"try":[32],"utilize":[34],"diffusion":[36],"effect":[37],"of":[38,74,95,112,125,180,189,197,205],"identify":[43],"an":[44,147],"arbitrary":[45],"load":[48,88,115,183,221],"just":[49],"based":[50],"on":[51],"a":[52,133],"sparse":[53,137,214],"sensor":[55,139,216],"array.":[56],"By":[57],"numerical":[58],"analysis,":[59],"proved":[61],"monotonous":[63],"relation":[64],"between":[65],"Pearson's":[67],"correlation":[68,103],"coefficient":[69],"and":[70,84,108,120,131,145,192],"relative":[72],"distance":[73],"two":[75],"single-force":[76],"loads.":[77],"Then,":[78],"meshed":[80],"surface":[83],"conducted":[85],"calibration":[87,93],"process":[89],"establish":[91],"database":[94,107],"outputs.":[98],"Afterwards,":[99],"applied":[101],"method":[104,176],"output":[111],"unknown":[114],"determine":[117],"its":[118],"location":[119,187],"intensity.":[121],"For":[122],"validation":[123,153],"tests":[124,154],"proposed":[127],"method,":[128],"designed":[130],"fabricated":[132],"3":[134,136],"\u00d7":[135],"array":[140,217],"with":[141,161,184],"flat":[142],"established":[146],"automatic":[148],"three-axis":[149],"loading":[150],"system.":[151],"The":[152,170],"were":[155],"implemented":[156],"including":[157],"100":[158],"random":[159],"points":[160],"intensity":[163,195],"ranging":[164],"from":[165],"0.1":[166],"1":[168],"N.":[169],"test":[171],"results":[172],"show":[173],"that":[174],"good":[178],"accuracy":[179],"detecting":[181],"mean":[186,194],"error":[188,196],"0.46":[190],"mm":[191],"0.043":[198],"N,":[199],"which":[200],"meets":[201],"basic":[203],"requirements":[204],"sensing.":[207],"Therefore,":[208],"it":[209],"feasible":[211],"realize":[219],"high-density":[220],"detection.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}