{"id":"https://openalex.org/W4409494031","doi":"https://doi.org/10.1109/access.2025.3561582","title":"A Camera-Embedded Self-Adaptable Finger With Multi-Modal Sensing Capabilities for Robotic Manipulation","display_name":"A Camera-Embedded Self-Adaptable Finger With Multi-Modal Sensing Capabilities for Robotic Manipulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409494031","doi":"https://doi.org/10.1109/access.2025.3561582"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3561582","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3561582","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3561582","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101446894","display_name":"Muhammad Usman Khalid","orcid":"https://orcid.org/0009-0000-4854-3029"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Muhammad Usman Khalid","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0009-0000-4854-3029","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088421665","display_name":"Mininder Sethi","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Hafiz Muizz Ahmed Sethi","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0009-0004-9808-3154","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nirmal Kumar Ravikumar","orcid":"https://orcid.org/0009-0006-2235-1567"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nirmal Kumar Ravikumar","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0009-0006-2235-1567","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050626776","display_name":"Halar Haleem","orcid":"https://orcid.org/0000-0001-9589-6505"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Halar Haleem","raw_affiliation_strings":["Department of Marine, Electrical, Electronic and Telecommunications Engineering (DITEN), University of Genoa, Genoa, Italy","Department of Marine, Electrical, Electronic and Telecommunications Engineering (DITEN), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0000-0001-9589-6505","affiliations":[{"raw_affiliation_string":"Department of Marine, Electrical, Electronic and Telecommunications Engineering (DITEN), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Marine, Electrical, Electronic and Telecommunications Engineering (DITEN), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117171927","display_name":"Alessandro Seitone","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Seitone","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0009-0008-1534-0610","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091508590","display_name":"Mattia Frascio","orcid":"https://orcid.org/0000-0001-7069-6726"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Frascio","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0000-0002-7588-9567","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033367596","display_name":"Matteo Zoppi","orcid":"https://orcid.org/0000-0003-0122-3196"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Zoppi","raw_affiliation_strings":["Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT"],"raw_orcid":"https://orcid.org/0000-0003-0122-3196","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, Genoa, IT","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07030276,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"68492","last_page":"68508"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.95660001039505,"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/modal","display_name":"Modal","score":0.7076521515846252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689970850944519},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6124271154403687},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.426738440990448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4039445221424103},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32235515117645264},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3172260820865631},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08208191394805908}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7076521515846252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689970850944519},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6124271154403687},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.426738440990448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4039445221424103},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32235515117645264},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3172260820865631},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08208191394805908},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2025.3561582","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3561582","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d815c02ee0ae487b90fe18851e801945","is_oa":true,"landing_page_url":"https://doaj.org/article/d815c02ee0ae487b90fe18851e801945","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 68492-68508 (2025)","raw_type":"article"},{"id":"pmh:oai:iris.unige.it:11567/1249357","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1249357","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3561582","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3561582","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1440114663","https://openalex.org/W2035379092","https://openalex.org/W2156218502","https://openalex.org/W2569244399","https://openalex.org/W2585390107","https://openalex.org/W2737984146","https://openalex.org/W2743209907","https://openalex.org/W2775635818","https://openalex.org/W2784648116","https://openalex.org/W2790586936","https://openalex.org/W2947323496","https://openalex.org/W3008303301","https://openalex.org/W3089672928","https://openalex.org/W3133349997","https://openalex.org/W3138117074","https://openalex.org/W3165325652","https://openalex.org/W3174427284","https://openalex.org/W3186174046","https://openalex.org/W3200203756","https://openalex.org/W3204990286","https://openalex.org/W4207057629","https://openalex.org/W4223630287","https://openalex.org/W4226035577","https://openalex.org/W4281642712","https://openalex.org/W4281742685","https://openalex.org/W4306632919","https://openalex.org/W4320921256","https://openalex.org/W4376605578","https://openalex.org/W4376605642","https://openalex.org/W4386220011","https://openalex.org/W4386252629","https://openalex.org/W4387123958","https://openalex.org/W4387588178","https://openalex.org/W4390980839","https://openalex.org/W4392044461","https://openalex.org/W4394821559","https://openalex.org/W4395452045","https://openalex.org/W4395680450","https://openalex.org/W4398253076","https://openalex.org/W4403676410","https://openalex.org/W6748993097","https://openalex.org/W6803256779"],"related_works":["https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W8302103","https://openalex.org/W613940353","https://openalex.org/W2320915480","https://openalex.org/W2362990116","https://openalex.org/W2381300099","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314"],"abstract_inverted_index":{"This":[0,277],"work":[1],"introduces":[2],"a":[3,73,154,171,188,280],"novel":[4],"vision-based":[5],"sensing":[6,67,70,275],"approach":[7,54,173],"for":[8,148,159,195,273,297],"self-adaptable":[9,50,292],"soft":[10,51],"fingers":[11],"using":[12,121],"an":[13,47,144,213,217],"embedded":[14,113],"camera,":[15],"demonstrating":[16],"proprioceptive":[17,241],"and":[18,31,130,153,163,181,200,233,242,256],"exteroceptive":[19,243],"capabilities.":[20],"The":[21,82,115,166,263],"system":[22,83,207,272],"achieves":[23],"normal":[24],"force":[25,32],"estimation,":[26,28,162],"Z-displacement":[27],"slip":[29,151,167,201,250],"detection,":[30],"application":[33],"position":[34,118,164],"classification":[35],"by":[36,63,94],"integrating":[37],"the":[38,44,56,78,86,104,112,138,176,206,267,270,286,291],"Pi":[39,237],"Camera":[40],"V3":[41],"sensor":[42,196],"into":[43],"structure":[45],"of":[46,260,269,290],"additively":[48],"manufactured":[49],"finger.":[52],"Our":[53],"avoids":[55],"deformation":[57,66,133],"disambiguation":[58],"required":[59],"in":[60,90,216],"elastomer-based":[61],"sensors":[62],"enabling":[64],"direct":[65],"without":[68,136],"additional":[69],"layers":[71],"like":[72],"silicon":[74],"pad":[75],"that":[76,174,284],"alters":[77],"finger\u2019s":[79,105],"compliant":[80,288],"characteristics.":[81],"also":[84],"overcomes":[85],"occlusion":[87],"limitations":[88],"inherent":[89,287],"external":[91],"camera-based":[92],"methods":[93],"observing":[95],"structural":[96],"changes":[97],"through":[98,210],"strategically":[99],"placed":[100],"dot":[101],"patterns":[102],"within":[103],"internal":[106],"geometry,":[107],"which":[108],"are":[109],"visible":[110],"to":[111,224,239],"camera.":[114,139],"camera":[116],"mounting":[117],"was":[119,208,247],"verified":[120],"Finite":[122],"Element":[123],"Analysis":[124],"(FEA)":[125],"while":[126,294],"ensuring":[127],"finger":[128,293],"compliance":[129],"as":[131,134],"much":[132],"possible":[135],"touching":[137],"We":[140],"combined":[141],"two":[142],"algorithms:":[143],"optical":[145],"flow-based":[146],"method":[147],"reliably":[149],"detecting":[150],"events":[152],"Convolutional":[155],"Neural":[156],"Network":[157],"(CNN)":[158],"force,":[160],"displacement":[161],"classification.":[165],"detection":[168,202,251],"algorithm":[169],"uses":[170],"dual-threshold":[172],"combines":[175],"Median":[177],"Absolute":[178],"Deviation":[179],"(MAD)":[180],"standard":[182],"deviation.":[183],"Customized":[184],"rigs":[185],"integrated":[186,232,282],"with":[187,212,249],"Universal":[189],"Testing":[190],"Machine":[191],"(UTM)":[192],"were":[193,231],"used":[194],"characterization,":[197],"dataset":[198],"acquisition,":[199],"parameter":[203],"optimization.":[204],"Furthermore,":[205],"validated":[209],"integration":[211],"industrial":[214],"gripper":[215],"experimental":[218,264],"sequence":[219],"on":[220,235],"different":[221],"object":[222],"types":[223],"mimic":[225],"real-world":[226,298],"manipulation,":[227],"where":[228],"both":[229,274],"algorithms":[230],"deployed":[234],"Raspberry":[236],"5":[238],"achieve":[240],"sensing.":[244],"Reliable":[245],"performance":[246],"achieved":[248],"operating":[252],"at":[253],"28.5":[254],"Hz":[255],"CNN":[257],"update":[258],"rate":[259],"8":[261],"Hz.":[262],"results":[265],"demonstrate":[266],"effectiveness":[268],"proposed":[271],"modalities.":[276],"study":[278],"presents":[279],"compact,":[281],"solution":[283],"maintains":[285],"characteristics":[289],"providing":[295],"feedback":[296],"manipulation":[299],"tasks.":[300]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-04-17T00:00:00"}