{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:26:51Z","timestamp":1760149611151,"version":"build-2065373602"},"reference-count":32,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,8,30]],"date-time":"2023-08-30T00:00:00Z","timestamp":1693353600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this paper, force sensor signals are classified using a pattern recognition neural network (PRNN). The signals are classified to show if there is a collision or not. In our previous work, the joints positions of a 2-DOF robot were used to estimate the external force sensor signal, which was attached at the robot end-effector, and the external joint torques of this robot based on a multilayer feedforward NN (MLFFNN). In the current work, the estimated force sensor signal and the external joints\u2019 torques from the previous work are used as the inputs to the proposed designed PRNN, and its output is whether a collision is found or not. The designed PRNN is trained using a scaled conjugate gradient backpropagation algorithm and tested and validated using different data from the training one. The results prove that the PRNN is effective in classifying the force signals. Its effectiveness for classifying the collision cases is 92.8%, and for the non-collisions cases is 99.4%. Therefore, the overall efficiency is 99.2%. The same methodology and work are repeated using a PRNN trained using another algorithm, which is the Levenberg\u2013Marquardt (PRNN-LM). The results using this structure prove that the PRNN-LM is also effective in classifying the force signals, and its overall effectiveness is 99.3%, which is slightly higher than the first PRNN. Finally, a comparison of the effectiveness of the proposed PRNN and PRNN-LM with other previous different classifiers is included. This comparison shows the effectiveness of the proposed PRNN and PRNN-LM.<\/jats:p>","DOI":"10.3390\/robotics12050124","type":"journal-article","created":{"date-parts":[[2023,8,31]],"date-time":"2023-08-31T11:31:18Z","timestamp":1693481478000},"page":"124","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Comprehensive Pattern Recognition Neural Network for Collision Classification Using Force Sensor Signals"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9733-221X","authenticated-orcid":false,"given":"Abdel-Nasser","family":"Sharkawy","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, Faculty of Engineering, South Valley University, Qena 83523, Egypt"},{"name":"Mechanical Engineering Department, College of Engineering, Fahad Bin Sultan University, Tabuk 47721, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3482-971X","authenticated-orcid":false,"given":"Alfian","family":"Ma\u2019arif","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta 55191, Indonesia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6042-3986","authenticated-orcid":false,"family":"Furizal","sequence":"additional","affiliation":[{"name":"Department of Master of Informatics Engineering, Universitas Ahmad Dahlan, Yogyakarta 55191, Indonesia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4732-5246","authenticated-orcid":false,"given":"Ravi","family":"Sekhar","sequence":"additional","affiliation":[{"name":"Symbiosis Institute, Technology (SIT) Pune Campus, Symbiosis International (Deemed University) (SIU), Pune 412115, India"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7504-2323","authenticated-orcid":false,"given":"Pritesh","family":"Shah","sequence":"additional","affiliation":[{"name":"Symbiosis Institute, Technology (SIT) Pune Campus, Symbiosis International (Deemed University) (SIU), Pune 412115, India"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ballesteros, J., Pastor, F., G\u00f3mez-De-Gabriel, J.M., Gandarias, J.M., Garc\u00eda-Cerezo, A.J., and Urdiales, C. 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