{"id":"https://openalex.org/W4367054005","doi":"https://doi.org/10.1002/aisy.202300042","title":"Minsight: A Fingertip\u2010Sized Vision\u2010Based Tactile Sensor for Robotic Manipulation","display_name":"Minsight: A Fingertip\u2010Sized Vision\u2010Based Tactile Sensor for Robotic Manipulation","publication_year":2023,"publication_date":"2023-04-25","ids":{"openalex":"https://openalex.org/W4367054005","doi":"https://doi.org/10.1002/aisy.202300042"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202300042","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300042","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300042","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003289261","display_name":"Iris Andrussow","orcid":"https://orcid.org/0000-0001-6343-2925"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Iris Andrussow","raw_affiliation_strings":["Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany","Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569 Stuttgart, Germany","Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045376288","display_name":"Huanbo Sun","orcid":"https://orcid.org/0000-0002-2363-5776"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Huanbo Sun","raw_affiliation_strings":["Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany","Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Georg Martius","raw_affiliation_strings":["Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Autonomous Learning Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 72076 T\u00fcbingen Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001474340","https://openalex.org/A5003289261"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":3.9035,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.94362893,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"5","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8047888278961182},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6890102028846741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6703988313674927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6602228879928589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5726518034934998},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5451326966285706},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5220969915390015},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5014054775238037},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.29085829854011536}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8047888278961182},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6890102028846741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6703988313674927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6602228879928589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5726518034934998},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5451326966285706},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5220969915390015},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5014054775238037},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.29085829854011536},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202300042","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300042","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300042","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6f906ce7a1de4caa899444db02b57dac","is_oa":true,"landing_page_url":"https://doaj.org/article/6f906ce7a1de4caa899444db02b57dac","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 8, Pp n/a-n/a (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202300042","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300042","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300042","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1038848454","display_name":null,"funder_award_id":"EXC 2064/1 \u2013 390727645","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G1341008233","display_name":null,"funder_award_id":"EXC 2064/1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G1599909685","display_name":null,"funder_award_id":"IMPRS","funder_id":"https://openalex.org/F4320322434","funder_display_name":"Max-Planck-Gesellschaft"},{"id":"https://openalex.org/G2773239854","display_name":null,"funder_award_id":"Projekt DEAL","funder_id":"https://openalex.org/F4320322434","funder_display_name":"Max-Planck-Gesellschaft"},{"id":"https://openalex.org/G5106512922","display_name":null,"funder_award_id":"Deutsche Forschungsgemeinschaft (DFG","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G688259535","display_name":null,"funder_award_id":"EXC 2064_1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8128963897","display_name":null,"funder_award_id":"EXC 2064","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8915364236","display_name":null,"funder_award_id":"2064/1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8923900407","display_name":null,"funder_award_id":"IMPRS-IS","funder_id":"https://openalex.org/F4320322434","funder_display_name":"Max-Planck-Gesellschaft"},{"id":"https://openalex.org/G8928656450","display_name":null,"funder_award_id":"Projekt DEAL","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320317967","display_name":"International Max Planck Research School for Environmental, Cellular and Molecular Microbiology","ror":null},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320322434","display_name":"Max-Planck-Gesellschaft","ror":"https://ror.org/01hhn8329"},{"id":"https://openalex.org/F4320327553","display_name":"International Max Planck Research School for Advanced Methods in Process and Systems Engineering","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4367054005.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W2099322603","https://openalex.org/W2103654576","https://openalex.org/W2116611507","https://openalex.org/W2118903899","https://openalex.org/W2143637557","https://openalex.org/W2222512263","https://openalex.org/W2256016128","https://openalex.org/W2744653421","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2901110287","https://openalex.org/W2917559944","https://openalex.org/W2936771675","https://openalex.org/W2963163009","https://openalex.org/W2969996603","https://openalex.org/W2990747716","https://openalex.org/W3003348589","https://openalex.org/W3004554579","https://openalex.org/W3008303301","https://openalex.org/W3008950361","https://openalex.org/W3015115976","https://openalex.org/W3100818121","https://openalex.org/W3128388473","https://openalex.org/W3130589561","https://openalex.org/W3136025710","https://openalex.org/W3138117074","https://openalex.org/W3173198228","https://openalex.org/W3213517261","https://openalex.org/W4213297255","https://openalex.org/W4285232917","https://openalex.org/W4295308349","https://openalex.org/W4311897637","https://openalex.org/W4383109319"],"related_works":["https://openalex.org/W2659967915","https://openalex.org/W2968697781","https://openalex.org/W4280558152","https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W3044219292","https://openalex.org/W1572125920","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2106712047"],"abstract_inverted_index":{"Intelligent":[0],"interaction":[1],"with":[2,96,170],"the":[3,58,65,133,137,149,153,183],"physical":[4,193],"world":[5],"requires":[6],"perceptual":[7],"abilities":[8],"beyond":[9],"vision":[10],"and":[11,42,54,67,73,105,192],"hearing;":[12],"vibrant":[13],"tactile":[14,146],"sensing":[15,94,187],"is":[16,51,118,156,164],"essential":[17],"for":[18,189],"autonomous":[19],"robots":[20,182],"to":[21,78,135],"dexterously":[22],"manipulate":[23],"unfamiliar":[24],"objects":[25],"or":[26],"safely":[27],"contact":[28,84,106],"humans.":[29],"Therefore,":[30],"robotic":[31,122],"manipulators":[32],"need":[33],"high\u2010resolution":[34,80],"touch":[35,186],"sensors":[36],"that":[37,178],"are":[38],"compact,":[39],"robust,":[40],"inexpensive,":[41],"efficient.":[43],"The":[44],"soft":[45,168],"vision\u2010based":[46],"haptic":[47],"sensor":[48,61,154],"presented":[49],"herein":[50],"a":[52,70,97,125,140,161,167],"miniaturized":[53],"optimized":[55],"version":[56],"of":[57,69,82,102,109,139,152,173],"previously":[59],"published":[60],"Insight.":[62],"Minsight":[63,179],"has":[64],"size":[66],"shape":[68],"human":[71,141],"fingertip":[72,185],"uses":[74],"machine":[75],"learning":[76],"methods":[77],"output":[79,155],"maps":[81],"3D":[83],"force":[85,100,130],"vectors":[86],"at":[87],"60":[88],"Hz.":[89],"Experiments":[90],"confirm":[91],"its":[92,113],"excellent":[93],"performance,":[95],"mean":[98],"absolute":[99],"error":[101,108],"0.07":[103],"N":[104],"location":[107],"0.6":[110],"mm":[111],"across":[112],"surface":[114],"area.":[115],"Minsight's":[116],"utility":[117],"shown":[119,157],"in":[120],"two":[121],"tasks":[123],"on":[124,145],"3\u2010DoF":[126],"manipulator.":[127],"First,":[128],"closed\u2010loop":[129],"control":[131],"enables":[132],"robot":[134],"track":[136],"movements":[138],"finger":[142],"based":[143],"only":[144],"data.":[147],"Second,":[148],"informative":[150],"value":[151],"by":[158],"detecting":[159],"whether":[160],"hard":[162],"lump":[163],"embedded":[165],"within":[166],"elastomer":[169],"an":[171],"accuracy":[172],"98%.":[174],"These":[175],"findings":[176],"indicate":[177],"can":[180],"give":[181],"detailed":[184],"needed":[188],"dexterous":[190],"manipulation":[191],"human\u2013robot":[194],"interaction.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
