{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,8]],"date-time":"2026-02-08T06:19:42Z","timestamp":1770531582452,"version":"3.49.0"},"reference-count":25,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2024,3,21]],"date-time":"2024-03-21T00:00:00Z","timestamp":1710979200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,3,21]],"date-time":"2024-03-21T00:00:00Z","timestamp":1710979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SIViP"],"published-print":{"date-parts":[[2024,7]]},"DOI":"10.1007\/s11760-024-03078-4","type":"journal-article","created":{"date-parts":[[2024,3,21]],"date-time":"2024-03-21T07:01:45Z","timestamp":1711004505000},"page":"4363-4374","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Contact classification for human\u2013robot interaction with densely connected convolutional neural network and convolutional block attention module"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6077-9800","authenticated-orcid":false,"given":"Ahmet","family":"Aydin","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1976-2526","authenticated-orcid":false,"given":"Erdin\u00e7","family":"Avaro\u011flu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,3,21]]},"reference":[{"key":"3078_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2022.3149109","volume":"71","author":"Y Liang","year":"2022","unstructured":"Liang, Y., Du, G., Li, C., Chen, C., Wang, X., Liu, P.X.: A gesture-based natural human-robot interaction interface with unrestricted force feedback. IEEE Trans. Instrum. Meas. 71, 1\u201311 (2022). https:\/\/doi.org\/10.1109\/TIM.2022.3149109","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"3078_CR2","doi-asserted-by":"publisher","first-page":"833","DOI":"10.1007\/s12369-020-00666-5","volume":"13","author":"L Onnasch","year":"2021","unstructured":"Onnasch, L., Roesler, E.: A taxonomy to structure and analyze human-robot interaction. Int. J. Soc. Robot. 13, 833\u2013849 (2021). https:\/\/doi.org\/10.1007\/s12369-020-00666-5","journal-title":"Int. J. Soc. Robot."},{"key":"3078_CR3","doi-asserted-by":"publisher","first-page":"764","DOI":"10.1080\/01691864.2019.1636714","volume":"33","author":"A Hentout","year":"2019","unstructured":"Hentout, A., Aouache, M., Maoudj, A., Akli, I.: Human\u2013robot interaction in industrial collaborative robotics: a literature review of the decade 2008\u20132017. Adv. Robot. 33, 764\u2013799 (2019). https:\/\/doi.org\/10.1080\/01691864.2019.1636714","journal-title":"Adv. Robot."},{"key":"3078_CR4","doi-asserted-by":"publisher","first-page":"927","DOI":"10.1007\/s10514-018-9764-z","volume":"43","author":"M Khoramshahi","year":"2019","unstructured":"Khoramshahi, M., Billard, A.: A dynamical system approach to task-adaptation in physical human\u2013robot interaction. Auton. Robots. 43, 927\u2013946 (2019). https:\/\/doi.org\/10.1007\/s10514-018-9764-z","journal-title":"Auton. Robots."},{"key":"3078_CR5","doi-asserted-by":"publisher","first-page":"1937","DOI":"10.1109\/TASE.2020.2983225","volume":"17","author":"W He","year":"2020","unstructured":"He, W., Xue, C., Yu, X., Li, Z., Yang, C.: Admittance-based controller design for physical human-robot interaction in the constrained task space. IEEE Trans. Autom. Sci. Eng. 17, 1937\u20131949 (2020). https:\/\/doi.org\/10.1109\/TASE.2020.2983225","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"3078_CR6","doi-asserted-by":"publisher","first-page":"747","DOI":"10.1177\/0278364919840415","volume":"38","author":"F Ferraguti","year":"2019","unstructured":"Ferraguti, F., Talignani Landi, C., Sabattini, L., Bonf\u00e8, M., Fantuzzi, C., Secchi, C.: A variable admittance control strategy for stable physical human\u2013robot interaction. Int. J. Rob. Res. 38, 747\u2013765 (2019). https:\/\/doi.org\/10.1177\/0278364919840415","journal-title":"Int. J. Rob. Res."},{"key":"3078_CR7","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102404","volume":"78","author":"R Jahanmahin","year":"2022","unstructured":"Jahanmahin, R., Masoud, S., Rickli, J., Djuric, A.: Human-robot interactions in manufacturing: A survey of human behavior modeling. Robot. Comput. Integr. Manuf. 78, 102404 (2022). https:\/\/doi.org\/10.1016\/j.rcim.2022.102404","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"3078_CR8","doi-asserted-by":"publisher","DOI":"10.1016\/j.ssci.2020.104667","volume":"127","author":"A Zacharaki","year":"2020","unstructured":"Zacharaki, A., Kostavelis, I., Gasteratos, A., Dokas, I.: Safety bounds in human robot interaction: A survey. Saf. Sci. 127, 104667 (2020). https:\/\/doi.org\/10.1016\/j.ssci.2020.104667","journal-title":"Saf. Sci."},{"key":"3078_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102304","volume":"75","author":"J Fan","year":"2022","unstructured":"Fan, J., Zheng, P., Li, S.: Vision-based holistic scene understanding towards proactive human\u2013robot collaboration. Robot. Comput. Integr. Manuf. 75, 102304 (2022). https:\/\/doi.org\/10.1016\/j.rcim.2021.102304","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"3078_CR10","doi-asserted-by":"publisher","first-page":"2200050","DOI":"10.1002\/aisy.202200050","volume":"4","author":"D Kong","year":"2022","unstructured":"Kong, D., Yang, G., Pang, G., Ye, Z., Lv, H., Yu, Z., Wang, F., Wang, X.V., Xu, K., Yang, H.: Bioinspired co-design of tactile sensor and deep learning algorithm for human-robot interaction. Adv. Intell. Syst. 4, 2200050 (2022). https:\/\/doi.org\/10.1002\/aisy.202200050","journal-title":"Adv. Intell. Syst."},{"key":"3078_CR11","doi-asserted-by":"publisher","first-page":"3327","DOI":"10.1007\/s11042-021-11291-3","volume":"81","author":"A Mart\u00ednez-Col\u00f3n","year":"2022","unstructured":"Mart\u00ednez-Col\u00f3n, A., Viciana-Abad, R., Perez-Lorenzo, J.M., Evers, C., Naylor, P.A.: An audio enhancement system to improve intelligibility for social-awareness in HRI. Multimed. Tools Appl. 81, 3327\u20133350 (2022). https:\/\/doi.org\/10.1007\/s11042-021-11291-3","journal-title":"Multimed. Tools Appl."},{"key":"3078_CR12","doi-asserted-by":"publisher","first-page":"7665","DOI":"10.1109\/TII.2022.3145862","volume":"18","author":"MD Putro","year":"2022","unstructured":"Putro, M.D., Nguyen, D.L., Jo, K.H.: A fast CPU real-time facial expression detector using sequential attention network for human-robot interaction. IEEE Trans. Ind. Inf. 18, 7665\u20137674 (2022). https:\/\/doi.org\/10.1109\/TII.2022.3145862","journal-title":"IEEE Trans. Ind. Inf."},{"key":"3078_CR13","doi-asserted-by":"publisher","first-page":"150","DOI":"10.1016\/j.ins.2019.09.005","volume":"509","author":"L Chen","year":"2020","unstructured":"Chen, L., Su, W., Feng, Y., Wu, M., She, J., Hirota, K.: Two-layer fuzzy multiple random forest for speech emotion recognition in human-robot interaction. Inf. Sci. (Ny) 509, 150\u2013163 (2020). https:\/\/doi.org\/10.1016\/j.ins.2019.09.005","journal-title":"Inf. Sci. (Ny)"},{"key":"3078_CR14","doi-asserted-by":"publisher","DOI":"10.3390\/s22176517","author":"M Chen","year":"2022","unstructured":"Chen, M., Xie, Y.: Cross-modal reconstruction for tactile signal in human-robot interaction. Sensors. (2022). https:\/\/doi.org\/10.3390\/s22176517","journal-title":"Sensors."},{"key":"3078_CR15","doi-asserted-by":"publisher","first-page":"64836","DOI":"10.1109\/ACCESS.2020.2984511","volume":"8","author":"J Liu","year":"2020","unstructured":"Liu, J., Wang, M., Wang, P., Hou, F., Meng, C., Hashimoto, K., Guo, S.: Cost-efficient flexible supercapacitive tactile sensor with superior sensitivity and high spatial resolution for human-robot interaction. IEEE Access. 8, 64836\u201364845 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.2984511","journal-title":"IEEE Access."},{"key":"3078_CR16","doi-asserted-by":"publisher","first-page":"3099","DOI":"10.1007\/s00170-021-08125-9","volume":"124","author":"L Roda-Sanchez","year":"2023","unstructured":"Roda-Sanchez, L., Garrido-Hidalgo, C., Garc\u00eda, A.S., Olivares, T., Fern\u00e1ndez-Caballero, A.: Comparison of RGB-D and IMU-based gesture recognition for human-robot interaction in remanufacturing. Int. J. Adv. Manuf. Technol. 124, 3099\u20133111 (2023). https:\/\/doi.org\/10.1007\/s00170-021-08125-9","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"3078_CR17","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s21062163","volume":"21","author":"D Kim","year":"2021","unstructured":"Kim, D., Han, S., Kim, T., Kim, C., Lee, D., Kang, D., Koh, J.S.: Design of a sensitive balloon sensor for safe human\u2013robot interaction. Sensors. 21, 1\u201312 (2021). https:\/\/doi.org\/10.3390\/s21062163","journal-title":"Sensors."},{"key":"3078_CR18","doi-asserted-by":"publisher","first-page":"1800","DOI":"10.1109\/LRA.2022.3142433","volume":"7","author":"X Fan","year":"2022","unstructured":"Fan, X., Lee, D., Jackel, L., Howard, R., Lee, D., Isler, V.: Enabling low-cost full surface tactile skin for human robot interaction. IEEE Robot. Autom. Lett. 7, 1800\u20131807 (2022). https:\/\/doi.org\/10.1109\/LRA.2022.3142433","journal-title":"IEEE Robot. Autom. Lett."},{"key":"3078_CR19","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/s00170-018-2788-x","volume":"101","author":"P Neto","year":"2019","unstructured":"Neto, P., Sim\u00e3o, M., Mendes, N., Safeea, M.: Gesture-based human-robot interaction for human assistance in manufacturing. Int. J. Adv. Manuf. Technol. 101, 119\u2013135 (2019). https:\/\/doi.org\/10.1007\/s00170-018-2788-x","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"3078_CR20","doi-asserted-by":"publisher","first-page":"668","DOI":"10.1177\/0278364920907688","volume":"39","author":"A Albini","year":"2020","unstructured":"Albini, A., Cannata, G.: Pressure distribution classification and segmentation of human hands in contact with the robot body. Int. J. Rob. Res. 39, 668\u2013687 (2020). https:\/\/doi.org\/10.1177\/0278364920907688","journal-title":"Int. J. Rob. Res."},{"key":"3078_CR21","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2017.8172417","author":"A Albini","year":"2017","unstructured":"Albini, A., Denei, S., Cannata, G.: On the recognition of human hand touch from robotic skin pressure measurements using convolutional neural networks, RO-MAN 2017\u201326th IEEE. Int. Symp. Robot Hum. Interact. Commun. (2017). https:\/\/doi.org\/10.1109\/ROMAN.2017.8172417","journal-title":"Int. Symp. Robot Hum. Interact. Commun."},{"key":"3078_CR22","doi-asserted-by":"publisher","first-page":"1270","DOI":"10.1109\/TASLP.2021.3064421","volume":"29","author":"A Pandey","year":"2021","unstructured":"Pandey, A., Wang, D.L.: Dense CNN with self-attention for time-domain speech enhancement. IEEE\/ACM Trans. Audio Speech Lang. Process. 29, 1270\u20131279 (2021). https:\/\/doi.org\/10.1109\/TASLP.2021.3064421","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"key":"3078_CR23","doi-asserted-by":"publisher","unstructured":"Huang, G., Liu, Z., Van Der Maaten, L., Weinberger, K. Q.: Densely connected convolutional networks, Proc. - 30th IEEE Conf. Comput. Vis. Pattern Recognition, CVPR 2017. 2017 (2017) 4700\u20134708. https:\/\/doi.org\/10.1109\/CVPR.2017.243.","DOI":"10.1109\/CVPR.2017.243"},{"key":"3078_CR24","doi-asserted-by":"crossref","unstructured":"Woo, S., Park, J., Lee, J., Kweon, I.S.: CBAM: Convolutional Block Attention Module, Proc. Eur. Conf. Comput. Vis. (2018) 3\u201319. https:\/\/openaccess.thecvf.com\/content_ECCV_2018\/html\/Sanghyun_Woo_Convolutional_Block_Attention_ECCV_2018_paper.html","DOI":"10.1007\/978-3-030-01234-2_1"},{"key":"3078_CR25","doi-asserted-by":"publisher","first-page":"115291","DOI":"10.1016\/j.engstruct.2022.115291","volume":"275","author":"L Chen","year":"2023","unstructured":"Chen, L., Yao, H., Fu, J., Tai, C.: Ng, The classification and localization of crack using lightweight convolutional neural network with CBAM. Eng. Struct. 275, 115291 (2023). https:\/\/doi.org\/10.1016\/j.engstruct.2022.115291","journal-title":"Eng. Struct."}],"container-title":["Signal, Image and Video Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-024-03078-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11760-024-03078-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-024-03078-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,23]],"date-time":"2024-05-23T13:13:27Z","timestamp":1716470007000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11760-024-03078-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,21]]},"references-count":25,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,7]]}},"alternative-id":["3078"],"URL":"https:\/\/doi.org\/10.1007\/s11760-024-03078-4","relation":{},"ISSN":["1863-1703","1863-1711"],"issn-type":[{"value":"1863-1703","type":"print"},{"value":"1863-1711","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,21]]},"assertion":[{"value":"6 June 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 December 2023","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 February 2024","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 March 2024","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}},{"value":"Author certifies that they have no affiliations with or involvement in any organization or entity with any financial interest or non-financial interest in the subject matter or materials discussed in this manuscript.<b>Ethical and informed consent<\/b>This paper does not contain any study with human participants or animals performed by any author.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interests"}},{"value":"Author agreed with the content and that all gave explicit consent to submit.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}]}}