Elahe Rezaee Ahvanooii, Sheis Abolmaali,
Volume 21, Issue 3 (8-2025)
Abstract
Touch, one of the fundamental human senses, is essential for understanding the environment by enabling object identification and stable movements. This ability has inspired significant advancements in artificial neural networks for object recognition, texture identification, and slip detection applications. However, despite their remarkable capacity to simulate tactile perception, artificial neural networks consume considerable energy, limiting their broader adoption. Recent developments in electronic skin technology have brought robots closer to achieving human-like tactile perception by enabling asynchronous responses to temperature and pressure changes, thereby enhancing robotic precision in tasks like object manipulation and grasping. This research presents a Spiking Graph Convolutional Network (SGCN) designed for processing tactile data in object recognition tasks. The model addresses the redundancy in spiking-format input data by employing two key techniques: (1) data compression to reduce the input size and (2) batch normalization to standardize the data. Experimental results demonstrated a 93.75% accuracy on the EvTouch-Objects dataset, reflecting a 4.31% improvement, and a 78.33% accuracy on the EvTouch-Containers dataset, representing an 18% improvement. These results underscore the SGCN's effectiveness in reducing data redundancy, decreasing required time steps, and optimizing tactile data processing to enhance robotic performance in object recognition.
Manh-Hung Ha, Duc-Chinh Nguyen, Thai-Kim Dinh, Tran Tien-Tam, Do Tien Thanh , Oscal Tzyh-Chiang Chen,
Volume 22, Issue 1 (3-2026)
Abstract
This paper develops a robust and efficient method for the classification of Vietnamese Sign Language gestures. The study focuses on leveraging deep learning techniques, specifically a Graph Convolutional Network (GCN), to analyze hand skeletal points for gesture recognition. The Vietnamese Sign Language custom dataset (ViSL) of 33 characters and numbers, conducting experiments to validate the model's performance, and comparing it with existing architectures. The proposed approach integrates multiple streams of GCN, based on the lightweight MobileNet architecture. The custom dataset is preprocessed to extract key skeletal points using Mediapipe, forming the input for the multiple GCN. Experiments were conducted to evaluate the proposed model's accuracy, comparing its performance with traditional architectures such as VGG and ViT. The experimental results highlight the proposed model superior performance, achieving an accuracy of 99.94% test on the custom ViSL dataset, reach accuracy of 0.993% and 0.994% on American Sign Language (ASL) and ASL MINST dataset, respectivly. The multi-stream GCN approach significantly outperformed traditional architectures in terms of both accuracy and computational efficiency. This study demonstrates the effectiveness of using multi-stream GCNs based on MobileNet for ViSL recognition, showcasing their potential for real-world applications.
