{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,13]],"date-time":"2026-01-13T04:19:11Z","timestamp":1768277951724,"version":"3.49.0"},"reference-count":12,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T00:00:00Z","timestamp":1673395200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"FCT\u2014Funda\u00e7\u00e3o para a Ci\u00eancia e Tecnologia","award":["UIBD\/00319\/2020"],"award-info":[{"award-number":["UIBD\/00319\/2020"]}]},{"name":"FCT\u2014Funda\u00e7\u00e3o para a Ci\u00eancia e Tecnologia","award":["SFRH\/BD\/06944\/2020"],"award-info":[{"award-number":["SFRH\/BD\/06944\/2020"]}]},{"name":"Portuguese Foundation for Science and Technology (Funda\u00e7\u00e3o para a Ci\u00eancia e Tecnologia)","award":["UIBD\/00319\/2020"],"award-info":[{"award-number":["UIBD\/00319\/2020"]}]},{"name":"Portuguese Foundation for Science and Technology (Funda\u00e7\u00e3o para a Ci\u00eancia e Tecnologia)","award":["SFRH\/BD\/06944\/2020"],"award-info":[{"award-number":["SFRH\/BD\/06944\/2020"]}]},{"name":"Portuguese Ministry of Science, Technology and Higher Education","award":["UIBD\/00319\/2020"],"award-info":[{"award-number":["UIBD\/00319\/2020"]}]},{"name":"Portuguese Ministry of Science, Technology and Higher Education","award":["SFRH\/BD\/06944\/2020"],"award-info":[{"award-number":["SFRH\/BD\/06944\/2020"]}]},{"name":"European Social Fund","award":["UIBD\/00319\/2020"],"award-info":[{"award-number":["UIBD\/00319\/2020"]}]},{"name":"European Social Fund","award":["SFRH\/BD\/06944\/2020"],"award-info":[{"award-number":["SFRH\/BD\/06944\/2020"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this work, a large-scale tactile detection system is proposed, whose development is based on a soft structure using Machine Learning and Computer Vision algorithms to map the surface of a forearm sleeve. The current application has a cylindrical design, whose dimensions intend to be like a human forearm or bicep. The model was developed assuming that deformations occur only at one section at a time. The goal for this system is to be coupled with the CHARMIE robot, a collaborative robot for domestic and medical environments. This system allows the contact detection of the entire forearm surface enabling interaction between a Human Being and a robot. A matrix with sections can be configured to present certain functionalities, allowing CHARMIE to detect contact in a particular section, and thus perform a specific behaviour. After building the dataset, an Artificial Neural Network (ANN) was created. This network was called Section Detection Network (SDN), and through Supervised Learning, a model was created to predict the contact location. Furthermore, Stratified K-Fold Cross Validation (SKFCV) was used to divide the dataset. All these steps resulted in Neural Network with a test data accuracy higher than 80%. Regarding the real-time evaluation, a graphical interface was structured to demonstrate the predicted class and the corresponding probability. This research concluded that the method described has enormous potential to be used as a tool for service robots allowing enhanced human-robot interaction.<\/jats:p>","DOI":"10.3390\/s23020825","type":"journal-article","created":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T04:59:58Z","timestamp":1673413198000},"page":"825","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Large-Scale Tactile Detection System Based on Supervised Learning for Service Robots Human Interaction"],"prefix":"10.3390","volume":"23","author":[{"given":"F\u00e1bio","family":"Cunha","sequence":"first","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5909-0827","authenticated-orcid":false,"given":"Tiago","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9475-9020","authenticated-orcid":false,"given":"Gil","family":"Lopes","sequence":"additional","affiliation":[{"name":"INESCTEC, University of Maia\u2014ISMAI, 4475-690 Maia, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6438-1223","authenticated-orcid":false,"given":"A. Fernando","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ribeiro, T., Gon\u00e7alves, F., Garcia, I., Lopes, G., and Ribeiro, A. (2021). CHARMIE: A collaborative healthcare and home service and assistant robot for elderly care. Appl. Sci., 11.","DOI":"10.3390\/app11167248"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"889","DOI":"10.1016\/j.robot.2010.03.010","article-title":"Developing a mobile robot for transport applications in the hospital domain","volume":"58","author":"Takahashi","year":"2010","journal-title":"Rob. Auton. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","article-title":"Sandini. Tactile sensing-from humans to humanoids","volume":"26","author":"Dahiya","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1109\/3477.979960","article-title":"Hybrid resistive tactile sensing. IEEE Trans","volume":"32","author":"Zhang","year":"2002","journal-title":"Syst. Man Cybern. Part B Cybern."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1007\/BF02442098","article-title":"Capacitive transducer for continuous measurement of vertical foot force","volume":"22","author":"Miyazaki","year":"1984","journal-title":"Med. Biol. Eng. Comput."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Wattanasarn, S., Noda, K., Matsumoto, K., and Shimoyama, I. (February, January 29). 3D flexible tactile sensor using electromagnetic induction coils. Proceedings of the 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems (MEMS), Paris, France.","DOI":"10.1109\/MEMSYS.2012.6170230"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"30170","DOI":"10.1039\/C5RA03110A","article-title":"Highly selective flexible tactile strain and temperature sensors against substrate bending for an artificial skin","volume":"5","author":"Kanao","year":"2015","journal-title":"RSC Adv."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1109\/TRO.2011.2106330","article-title":"Humanoid multimodal tactile-sensing modules","volume":"27","author":"Mittendorfer","year":"2011","journal-title":"IEEE Trans. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Alspach, A., Kim, J., and Yamane, K. (2018, January 24\u201328). Design and fabrication of a soft robotic hand and arm system. Proceedings of the 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy.","DOI":"10.1109\/ROBOSOFT.2018.8404947"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Van Duong, L., Asahina, R., Wang, J., and Ho, V.A. (2019, January 14\u201318). Development of a vision-based soft tactile muscularis. Proceedings of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Republic of Korea.","DOI":"10.1109\/ROBOSOFT.2019.8722814"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Yoshigi, S., Wang, J., Nakayama, S., and Ho, V.A. (July, January 15). Deep Learning-based Whole-Arm Soft Tactile Sensation. Proceedings of the 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA.","DOI":"10.1109\/RoboSoft48309.2020.9116018"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"142","DOI":"10.1080\/10106049.2019.1704070","article-title":"Application of deep learning with stratified K-fold for vegetation species discrimation in a protected mountainous region using Sentinel-2 image","volume":"37","author":"Adagbasa","year":"2019","journal-title":"Geocarto Int."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/825\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:06:38Z","timestamp":1760119598000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/825"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,11]]},"references-count":12,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2023,1]]}},"alternative-id":["s23020825"],"URL":"https:\/\/doi.org\/10.3390\/s23020825","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1,11]]}}}