{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T14:03:51Z","timestamp":1760709831751,"version":"build-2065373602"},"reference-count":45,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2019,2,16]],"date-time":"2019-02-16T00:00:00Z","timestamp":1550275200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Community FP7","award":["231500,288553"],"award-info":[{"award-number":["231500,288553"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about contact events. Considering a large-scale, capacitance-based robot skin technology we developed in the past few years, we analyse the classical Boussinesq\u2013Cerruti\u2019s solution and the Love\u2019s approach for solving a distributed inverse contact problem, both from a qualitative and a computational perspective. Our contribution is the characterisation of the algorithms\u2019 performance using a freely available dataset and data originating from surfaces provided with robot skin.<\/jats:p>","DOI":"10.3390\/s19040814","type":"journal-article","created":{"date-parts":[[2019,2,17]],"date-time":"2019-02-17T22:11:50Z","timestamp":1550441510000},"page":"814","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Contact Modelling and Tactile Data Processing for Robot Skins"],"prefix":"10.3390","volume":"19","author":[{"given":"Wojciech","family":"Wasko","sequence":"first","affiliation":[{"name":"Nvidia Corporation, 83304 Przodkowo, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1562-7044","authenticated-orcid":false,"given":"Alessandro","family":"Albini","sequence":"additional","affiliation":[{"name":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, 16145 Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7588-9567","authenticated-orcid":false,"given":"Perla","family":"Maiolino","sequence":"additional","affiliation":[{"name":"Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford OX2 6NN, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fulvio","family":"Mastrogiovanni","sequence":"additional","affiliation":[{"name":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, 16145 Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7932-5411","authenticated-orcid":false,"given":"Giorgio","family":"Cannata","sequence":"additional","affiliation":[{"name":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, 16145 Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","article-title":"Tactile sensing\u2014From humans to humanoids","volume":"26","author":"Dahiya","year":"2010","journal-title":"IEEE Trans. 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