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This paper proposes a novel data\u2010driven approach for force contact location sensing (FCLS) with the influence of sensor strain and forces based on scatter signals (SS) of the ultrasonic waveguide. First, the envelope of the force contact scatter signal (FCSS) is extracted via the Hilbert transform, which retrieves the global features of SS. The time\u2010frequency spectrogram is obtained via continuous wavelet transform, which extracts the local features of SS. Second, a deep convolutional neural network (CNN) is utilized to extract these features separately and concentrate them together. Third, based on the outputs of the CNN, a multilayer perception regression model is applied to acquire the force contact location. The experimental results indicate that the accuracy of the proposed FCLS method has a mean absolute error of 0.627\u2009mm and a mean relative error of 3.19%. This research provides a foundation for further multimodal sensing using ultrasonic waveguides and its application in robotic sensing.<\/jats:p>","DOI":"10.1002\/aisy.202400561","type":"journal-article","created":{"date-parts":[[2024,10,8]],"date-time":"2024-10-08T03:24:48Z","timestamp":1728357888000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Disentangling Contact Location for Stretchable Tactile Sensors from Soft Waveguide Ultrasonic Scatter Signals"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-0754-957X","authenticated-orcid":false,"given":"Zhiheng","family":"Li","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9148-5741","authenticated-orcid":false,"given":"Yuan","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong"},{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 201100 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8931-5743","authenticated-orcid":false,"given":"Peter B.","family":"Shull","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 201100 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6488-1551","authenticated-orcid":false,"given":"Hongliang","family":"Ren","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,10,8]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202204964"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bios.2022.114882"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1021\/nn402728g"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0062-3"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1179963"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.2c12606"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.3390\/nano14050465"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201700248"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2033627"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2723903"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2013.11.018"},{"key":"e_1_2_10_13_1","first-page":"9508309","volume":"73","author":"Liu X.","year":"2024","journal-title":"IEEE Trans. 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