{"id":"https://openalex.org/W3094080192","doi":"https://doi.org/10.1109/biorob49111.2020.9224384","title":"Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation","display_name":"Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation","publication_year":2020,"publication_date":"2020-10-15","ids":{"openalex":"https://openalex.org/W3094080192","doi":"https://doi.org/10.1109/biorob49111.2020.9224384","mag":"3094080192"},"language":"en","primary_location":{"id":"doi:10.1109/biorob49111.2020.9224384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070989513","display_name":"Jared Nakahara","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jared Nakahara","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074328657","display_name":"Boling Yang","orcid":"https://orcid.org/0000-0002-6211-122X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Boling Yang","raw_affiliation_strings":["Paul G. Allen School of Computer Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Paul G. Allen School of Computer Science and Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019043770","display_name":"Joshua R. Smith","orcid":"https://orcid.org/0000-0002-5331-4770"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joshua R. Smith","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering","Paul G. Allen School of Computer Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering","institution_ids":[]},{"raw_affiliation_string":"Paul G. Allen School of Computer Science and Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070989513"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7836,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.69137053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"264","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12452","display_name":"Electrowetting and Microfluidic Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/levitation","display_name":"Levitation","score":0.8314290046691895},{"id":"https://openalex.org/keywords/millimeter","display_name":"Millimeter","score":0.6839290857315063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6373702883720398},{"id":"https://openalex.org/keywords/acoustic-levitation","display_name":"Acoustic levitation","score":0.6023814082145691},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.5913571119308472},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5805259943008423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.518589973449707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5106192231178284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4730262756347656},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4659688472747803},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4515300989151001},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42655858397483826},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4261877238750458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2970436215400696},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.24109342694282532},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23418542742729187},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1941078007221222}],"concepts":[{"id":"https://openalex.org/C27838914","wikidata":"https://www.wikidata.org/wiki/Q740997","display_name":"Levitation","level":3,"score":0.8314290046691895},{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.6839290857315063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6373702883720398},{"id":"https://openalex.org/C83199326","wikidata":"https://www.wikidata.org/wiki/Q908360","display_name":"Acoustic levitation","level":4,"score":0.6023814082145691},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.5913571119308472},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5805259943008423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.518589973449707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5106192231178284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4730262756347656},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4659688472747803},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4515300989151001},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42655858397483826},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4261877238750458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2970436215400696},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.24109342694282532},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23418542742729187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1941078007221222},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob49111.2020.9224384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1936889252","https://openalex.org/W1973933045","https://openalex.org/W1974088101","https://openalex.org/W1976454035","https://openalex.org/W1977150127","https://openalex.org/W1982786114","https://openalex.org/W1982976532","https://openalex.org/W1994740410","https://openalex.org/W2003329174","https://openalex.org/W2009934861","https://openalex.org/W2013467411","https://openalex.org/W2021349584","https://openalex.org/W2022430352","https://openalex.org/W2026573005","https://openalex.org/W2043579144","https://openalex.org/W2044921879","https://openalex.org/W2048058874","https://openalex.org/W2059263611","https://openalex.org/W2060473772","https://openalex.org/W2077219450","https://openalex.org/W2080551943","https://openalex.org/W2080597242","https://openalex.org/W2086899841","https://openalex.org/W2110460556","https://openalex.org/W2120408680","https://openalex.org/W2123655860","https://openalex.org/W2130726675","https://openalex.org/W2134589309","https://openalex.org/W2147521774","https://openalex.org/W2149881082","https://openalex.org/W2167480813","https://openalex.org/W2296718990","https://openalex.org/W2334692295","https://openalex.org/W2403161075","https://openalex.org/W2412810726","https://openalex.org/W2467329162","https://openalex.org/W2503184210","https://openalex.org/W2517469201","https://openalex.org/W2599330710","https://openalex.org/W2736878617","https://openalex.org/W2808777429","https://openalex.org/W2810733590","https://openalex.org/W2883217304","https://openalex.org/W2910440254","https://openalex.org/W2911839878","https://openalex.org/W2914856714","https://openalex.org/W2963170432","https://openalex.org/W2964992172","https://openalex.org/W2967428101","https://openalex.org/W2967717386","https://openalex.org/W6734955769"],"related_works":["https://openalex.org/W2780970611","https://openalex.org/W2380738495","https://openalex.org/W2058743351","https://openalex.org/W2376416983","https://openalex.org/W2357840076","https://openalex.org/W4292860473","https://openalex.org/W2063776110","https://openalex.org/W4361258208","https://openalex.org/W1997417996","https://openalex.org/W1998190431"],"abstract_inverted_index":{"Although":[0],"general":[1,96,119],"purpose":[2,97,120],"robotic":[3,121],"manipulators":[4],"are":[5,19],"becoming":[6],"more":[7],"capable":[8,138],"at":[9],"manipulating":[10],"various":[11],"objects,":[12,39],"their":[13,81],"ability":[14,82],"to":[15,32,43,83,113,128,131,175,195,206],"manipulate":[16,85],"millimeter-scale":[17,86,124],"objects":[18,87,163],"usually":[20],"limited.":[21],"On":[22],"the":[23,48,64,69,132,141,152,156,159,168,173,196,200,209,213],"other":[24],"hand,":[25],"ultrasonic":[26,52],"levitation":[27,53,78],"devices":[28,54,79],"have":[29],"been":[30],"shown":[31],"levitate":[33],"a":[34,92,185,191,203],"large":[35],"range":[36],"of":[37,76,139,199],"small":[38,186],"from":[40],"polystyrene":[41],"balls":[42],"living":[44],"organisms.":[45],"By":[46],"controlling":[47],"acoustic":[49,77],"force":[50,66],"fields,":[51],"can":[55,110,161,211],"compensate":[56],"for":[57,95],"robot":[58,133,180],"manipulator":[59,153,160],"positioning":[60,170],"uncertainty":[61],"and":[62,80,182,187],"control":[63],"grasping":[65,93],"exerted":[67],"on":[68,147],"target":[70,157],"object.":[71],"The":[72],"material":[73],"agnostic":[74],"nature":[75,198],"dexterously":[84,183],"make":[88],"them":[89],"appealing":[90],"as":[91],"mode":[94],"robots.":[98],"In":[99],"this":[100],"work,":[101],"we":[102],"present":[103],"an":[104],"ultrasonic,":[105],"contact-less":[106,197],"manipulation":[107,125],"device":[108,136],"that":[109],"be":[111],"attached":[112],"or":[114],"picked":[115],"up":[116],"by":[117],"any":[118],"arm,":[122],"enabling":[123],"with":[126],"little":[127],"no":[129],"modification":[130],"itself.":[134],"This":[135],"is":[137],"performing":[140],"very":[142],"first":[143],"phase-controlled":[144],"picking":[145],"action":[146],"acoustically":[148],"reflective":[149],"surfaces.":[150],"With":[151],"placed":[154],"around":[155],"object,":[158,189],"grasp":[162],"smaller":[164],"in":[165],"size":[166],"than":[167],"robot's":[169],"uncertainty,":[171],"trap":[172],"object":[174,214],"resist":[176],"air":[177],"currents":[178],"during":[179],"movement,":[181],"hold":[184],"fragile":[188],"like":[190],"flower":[192],"bud.":[193],"Due":[194],"ultrasound-based":[201],"gripper,":[202],"camera":[204],"positioned":[205],"look":[207],"into":[208],"cylinder":[210],"inspect":[212],"without":[215],"occlusion,":[216],"facilitating":[217],"accurate":[218],"visual":[219],"feature":[220],"extraction.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
