{"id":"https://openalex.org/W2569747804","doi":"https://doi.org/10.1109/humanoids.2016.7803315","title":"A modular, distributed, soft, 3-axis sensor system for robot hands","display_name":"A modular, distributed, soft, 3-axis sensor system for robot hands","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2569747804","doi":"https://doi.org/10.1109/humanoids.2016.7803315","mag":"2569747804"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5089110857","display_name":"Tito Pradhono Tomo","orcid":"https://orcid.org/0000-0003-1649-5709"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tito Pradhono Tomo","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064202679","display_name":"Wai Keat Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wai Keat Wong","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035429819","display_name":"Alexander Schmitz","orcid":"https://orcid.org/0000-0002-8962-771X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexander Schmitz","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067784182","display_name":"Harris Kristanto","orcid":"https://orcid.org/0000-0002-0451-5242"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Harris Kristanto","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078965436","display_name":"Alexandre Sarazin","orcid":"https://orcid.org/0000-0002-9459-7180"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexandre Sarazin","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["Instituto de Sistemas e Rob\u00f3tica, Instituto Superior T\u00e9cnico, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Sistemas e Rob\u00f3tica, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079680563","display_name":"Sophon Somlor","orcid":"https://orcid.org/0000-0003-2601-2934"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sophon Somlor","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"454","last_page":"460"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9988999962806702,"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":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6839123964309692},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6266310214996338},{"id":"https://openalex.org/keywords/printed-circuit-board","display_name":"Printed circuit board","score":0.6041327714920044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5676424503326416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48023468255996704},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.43449410796165466},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.41617321968078613},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4116798937320709},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.41116398572921753},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.37106209993362427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36731794476509094},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3418658971786499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20034706592559814}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6839123964309692},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6266310214996338},{"id":"https://openalex.org/C120793396","wikidata":"https://www.wikidata.org/wiki/Q173350","display_name":"Printed circuit board","level":2,"score":0.6041327714920044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5676424503326416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48023468255996704},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.43449410796165466},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.41617321968078613},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4116798937320709},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.41116398572921753},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.37106209993362427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36731794476509094},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3418658971786499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20034706592559814},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2016.7803315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1525760561","https://openalex.org/W1548071717","https://openalex.org/W1565505249","https://openalex.org/W1976742066","https://openalex.org/W1995213905","https://openalex.org/W2001319837","https://openalex.org/W2021673896","https://openalex.org/W2047043933","https://openalex.org/W2063113858","https://openalex.org/W2063822181","https://openalex.org/W2089910578","https://openalex.org/W2100777869","https://openalex.org/W2103654576","https://openalex.org/W2103833642","https://openalex.org/W2105574694","https://openalex.org/W2107758079","https://openalex.org/W2126358124","https://openalex.org/W2133835651","https://openalex.org/W2134663441","https://openalex.org/W2141655728","https://openalex.org/W2157272868","https://openalex.org/W2171130677","https://openalex.org/W2245688419","https://openalex.org/W2296944518","https://openalex.org/W2327594626","https://openalex.org/W2332548465","https://openalex.org/W2539838946","https://openalex.org/W2542710067","https://openalex.org/W6691197420","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2352716034","https://openalex.org/W2366404669","https://openalex.org/W2363470316","https://openalex.org/W2381042966","https://openalex.org/W2369813044","https://openalex.org/W2381979011","https://openalex.org/W2341212372","https://openalex.org/W2358085404","https://openalex.org/W2376668782"],"abstract_inverted_index":{"Integrating":[0],"distributed":[1],"sensors":[2,113],"in":[3],"the":[4,12,34,37,57,65,71,86,106,112,115,119,124,134,170,176,190],"skin":[5],"of":[6,60,64,123,172],"robot":[7],"hands":[8],"is":[9,14,39,82,126,146,192],"challenging,":[10],"as":[11],"space":[13],"limited.":[15,193],"This":[16],"paper":[17],"presents":[18],"a":[19,92,97],"dense":[20],"and":[21,47,50,96,114,142,188],"small":[22],"tactile":[23],"sensor":[24,74,95,100,137,144],"system":[25,38],"that":[26,43,181,189],"can":[27,185],"be":[28,186],"installed":[29],"on":[30,56],"robotic":[31],"hands.":[32],"In":[33],"current":[35],"implementation,":[36],"constituted":[40],"by":[41],"modules":[42,101],"are":[44,102,162],"26mm":[45],"long":[46],"27mm":[48],"wide":[49],"they":[51],"have":[52],"been":[53],"successfully":[54],"integrated":[55],"internal":[58],"side":[59],"each":[61,80,143,157,165],"finger":[62],"phalange":[63],"commercially":[66],"available":[67],"Allegro":[68],"Hand":[69],"(except":[70],"fingertips).":[72],"Each":[73,136],"module":[75,145],"contains":[76],"16":[77],"tri-axial":[78,160],"taxels;":[79],"taxel":[81,174],"able":[83],"to":[84,148,164,175],"measure":[85],"applied":[87],"3D":[88],"force":[89,183],"vector":[90],"using":[91],"Hall":[93],"effect":[94],"magnet.":[98],"The":[99,121,159],"4mm":[103],"high,":[104],"including":[105],"printed":[107],"circuit":[108],"board":[109],"(PCB)":[110],"with":[111,118],"soft":[116],"silicone":[117],"magnets.":[120],"back":[122],"PCB":[125],"flat":[127],"without":[128],"any":[129],"components":[130],"mounted,":[131],"which":[132],"eases":[133],"integration.":[135],"has":[138],"I2C":[139,150],"digital":[140],"output,":[141],"connected":[147],"four":[149],"buses,":[151],"requiring":[152],"only":[153],"seven":[154],"wires":[155],"for":[156],"module.":[158],"taxels":[161],"close":[163],"other":[166],"(4.7":[167],"mm":[168],"from":[169],"center":[171],"one":[173],"next),":[177],"but":[178],"experiments":[179],"proved":[180],"independent":[182],"vectors":[184],"measured":[187],"crosstalk":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}