{"id":"https://openalex.org/W2994492048","doi":"https://doi.org/10.3390/s19245356","title":"Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation","display_name":"Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation","publication_year":2019,"publication_date":"2019-12-05","ids":{"openalex":"https://openalex.org/W2994492048","doi":"https://doi.org/10.3390/s19245356","mag":"2994492048","pmid":"https://pubmed.ncbi.nlm.nih.gov/31817320"},"language":"en","primary_location":{"id":"doi:10.3390/s19245356","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245356","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5356/pdf?version=1575966785","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/1424-8220/19/24/5356/pdf?version=1575966785","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036496473","display_name":"Francisco Pastor","orcid":"https://orcid.org/0000-0003-0006-6811"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco Pastor","raw_affiliation_strings":["Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-0006-6811","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023183689","display_name":"Juan M. Gandar\u00edas","orcid":"https://orcid.org/0000-0002-0382-334X"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan M. Gandarias","raw_affiliation_strings":["Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0382-334X","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso J. Garc\u00eda-Cerezo","raw_affiliation_strings":["Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3432-3230","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087357177","display_name":"Jes\u00fas M. G\u00f3mez-de-Gabriel","orcid":"https://orcid.org/0000-0001-5960-3453"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jes\u00fas M. G\u00f3mez-de-Gabriel","raw_affiliation_strings":["Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5960-3453","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Group, University of M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5036496473"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":3.6099,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.93750448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"24","first_page":"5356","last_page":"5356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9980999827384949,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9923999905586243,"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":0.8455860614776611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7692373991012573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7230591773986816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5627998113632202},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.557101845741272},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5346341133117676},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5118514895439148},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5058085918426514},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.47890201210975647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4753296673297882},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.47405168414115906},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.4217851161956787},{"id":"https://openalex.org/keywords/somatosensory-system","display_name":"Somatosensory system","score":0.41263508796691895},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37215709686279297},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.35980382561683655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2509670853614807}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8455860614776611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7692373991012573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7230591773986816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5627998113632202},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.557101845741272},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5346341133117676},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5118514895439148},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5058085918426514},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.47890201210975647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4753296673297882},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.47405168414115906},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.4217851161956787},{"id":"https://openalex.org/C172497186","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Somatosensory system","level":2,"score":0.41263508796691895},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37215709686279297},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.35980382561683655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2509670853614807},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":4,"locations":[{"id":"doi:10.3390/s19245356","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245356","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5356/pdf?version=1575966785","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:31817320","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31817320","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":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:6960774","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6960774","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"},{"id":"pmh:oai:riuma.uma.es:10630/34034","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/34034","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":null,"raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.3390/s19245356","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245356","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5356/pdf?version=1575966785","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":[],"awards":[{"id":"https://openalex.org/G4941046951","display_name":null,"funder_award_id":"BES-2016-078237","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6879694019","display_name":null,"funder_award_id":"RTI2018-093421-B-I00","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"},{"id":"https://openalex.org/G7457329305","display_name":null,"funder_award_id":"RTI2018-093421-B-I00","funder_id":"https://openalex.org/F4320311265","funder_display_name":"Universidad de M\u00e1laga"},{"id":"https://openalex.org/G8181105605","display_name":null,"funder_award_id":"RTI2018","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"}],"funders":[{"id":"https://openalex.org/F4320311265","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28"},{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2994492048.pdf","grobid_xml":"https://content.openalex.org/works/W2994492048.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W1522734439","https://openalex.org/W1531614619","https://openalex.org/W1581953684","https://openalex.org/W1881109849","https://openalex.org/W1963215450","https://openalex.org/W1970495039","https://openalex.org/W1987447621","https://openalex.org/W1991474872","https://openalex.org/W2005870597","https://openalex.org/W2030204236","https://openalex.org/W2042599225","https://openalex.org/W2064990398","https://openalex.org/W2068882612","https://openalex.org/W2070401730","https://openalex.org/W2079663890","https://openalex.org/W2100988994","https://openalex.org/W2144354855","https://openalex.org/W2149606722","https://openalex.org/W2158662820","https://openalex.org/W2163605009","https://openalex.org/W2171130677","https://openalex.org/W2209829030","https://openalex.org/W2263753685","https://openalex.org/W2327594626","https://openalex.org/W2328918242","https://openalex.org/W2345650853","https://openalex.org/W2511197415","https://openalex.org/W2529113322","https://openalex.org/W2565843404","https://openalex.org/W2566638765","https://openalex.org/W2567050476","https://openalex.org/W2567599812","https://openalex.org/W2735974022","https://openalex.org/W2737661303","https://openalex.org/W2742785019","https://openalex.org/W2745797847","https://openalex.org/W2767443657","https://openalex.org/W2768499207","https://openalex.org/W2770836377","https://openalex.org/W2771406164","https://openalex.org/W2772584122","https://openalex.org/W2774648911","https://openalex.org/W2776116066","https://openalex.org/W2781493652","https://openalex.org/W2792044747","https://openalex.org/W2804189514","https://openalex.org/W2805264857","https://openalex.org/W2812031262","https://openalex.org/W2837391606","https://openalex.org/W2896115045","https://openalex.org/W2902148761","https://openalex.org/W2913153715","https://openalex.org/W2940682483","https://openalex.org/W2963263790","https://openalex.org/W2970840467","https://openalex.org/W3099322865","https://openalex.org/W4210660029"],"related_works":["https://openalex.org/W2057465110","https://openalex.org/W2659967915","https://openalex.org/W2968697781","https://openalex.org/W4280558152","https://openalex.org/W2303254066","https://openalex.org/W3214582440","https://openalex.org/W3044219292","https://openalex.org/W1572125920","https://openalex.org/W2397232755","https://openalex.org/W2554319443"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,16,22,71,91,105,127,161],"novel":[4],"method":[5],"of":[6,54,66,81,113,164],"active":[7,146],"tactile":[8,18,72,82,86,100],"perception":[9],"based":[10,31],"on":[11,21,32],"3D":[12,85,128,135,151],"neural":[13],"networks":[14],"and":[15,155],"high-resolution":[17],"sensor":[19,73,101],"installed":[20],"robot":[23],"gripper":[24,64],"is":[25,35,88,138],"presented.":[26],"A":[27,78],"haptic":[28],"exploratory":[29],"procedure":[30],"robotic":[33],"palpation":[34],"performed":[36],"to":[37,125,140],"get":[38],"pressure":[39,95,114],"images":[40,96],"at":[41],"different":[42],"grasping":[43,119],"forces":[44],"that":[45,107,150],"provide":[46,156],"information":[47,83,109],"not":[48],"only":[49],"about":[50,59,110],"the":[51,55,76,94,99,111,118,142],"external":[52],"shape":[53],"object,":[56],"but":[57],"also":[58],"its":[60],"internal":[61],"features.":[62],"The":[63],"consists":[65],"two":[67],"underactuated":[68],"fingers":[69],"with":[70,117,160],"array":[74],"in":[75],"thumb.":[77],"new":[79],"representation":[80],"as":[84],"tensors":[87,122],"described.":[89],"During":[90],"squeeze-and-release":[92],"process,":[93],"read":[97],"from":[98],"are":[102,123],"concatenated":[103],"forming":[104],"tensor":[106],"contains":[108],"variation":[112],"matrices":[115],"along":[116],"forces.":[120],"These":[121],"used":[124],"feed":[126],"Convolutional":[129],"Neural":[130],"Network":[131],"(3D":[132],"CNN)":[133],"called":[134],"TactNet,":[136],"which":[137],"able":[139],"classify":[141],"grasped":[143],"object":[144],"through":[145],"interaction.":[147],"Results":[148],"show":[149],"CNN":[152],"performs":[153],"better,":[154],"better":[157],"recognition":[158],"rates":[159],"lower":[162],"number":[163],"training":[165],"data.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":8}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}