{"id":"https://openalex.org/W4412965582","doi":"https://doi.org/10.1109/i2mtc62753.2025.11078990","title":"Sensorizing Flexible Joints for Soft Robots: a Feasibility Study","display_name":"Sensorizing Flexible Joints for Soft Robots: a Feasibility Study","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4412965582","doi":"https://doi.org/10.1109/i2mtc62753.2025.11078990"},"language":"en","primary_location":{"id":"doi:10.1109/i2mtc62753.2025.11078990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc62753.2025.11078990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","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/A5005523277","display_name":"Elia Landi","orcid":"https://orcid.org/0000-0003-2797-481X"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Elia Landi","raw_affiliation_strings":["University of Siena,DIISM,Siena,Italy"],"affiliations":[{"raw_affiliation_string":"University of Siena,DIISM,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052652565","display_name":"Tommaso Lisini Baldi","orcid":"https://orcid.org/0000-0002-2930-955X"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tommaso Lisini Baldi","raw_affiliation_strings":["University of Siena,DIISM,Siena,Italy"],"affiliations":[{"raw_affiliation_string":"University of Siena,DIISM,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jonas Papenbrock","orcid":null},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jonas Papenbrock","raw_affiliation_strings":["University of Siena,DIISM,Siena,Italy"],"affiliations":[{"raw_affiliation_string":"University of Siena,DIISM,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059008514","display_name":"Alessio Facello","orcid":"https://orcid.org/0000-0001-5840-9296"},"institutions":[{"id":"https://openalex.org/I4210136559","display_name":"Istituto Nazionale di Ricerca Metrologica","ror":"https://ror.org/03vn1bh77","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210136559","https://openalex.org/I4392021227"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Facello","raw_affiliation_strings":["National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy"],"affiliations":[{"raw_affiliation_string":"National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy","institution_ids":["https://openalex.org/I4210136559"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037809005","display_name":"Andrea Prato","orcid":"https://orcid.org/0000-0003-3733-4189"},"institutions":[{"id":"https://openalex.org/I4210136559","display_name":"Istituto Nazionale di Ricerca Metrologica","ror":"https://ror.org/03vn1bh77","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210136559","https://openalex.org/I4392021227"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Prato","raw_affiliation_strings":["National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy"],"affiliations":[{"raw_affiliation_string":"National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy","institution_ids":["https://openalex.org/I4210136559"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012154284","display_name":"Alessandro Schiavi","orcid":"https://orcid.org/0000-0003-4168-3605"},"institutions":[{"id":"https://openalex.org/I4210136559","display_name":"Istituto Nazionale di Ricerca Metrologica","ror":"https://ror.org/03vn1bh77","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210136559","https://openalex.org/I4392021227"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Schiavi","raw_affiliation_strings":["National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy"],"affiliations":[{"raw_affiliation_string":"National Institute of Metrological Research,Applied Metrology and Engineering,Torino,Italy","institution_ids":["https://openalex.org/I4210136559"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["University of Siena,DIISM,Siena,Italy"],"affiliations":[{"raw_affiliation_string":"University of Siena,DIISM,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011072460","display_name":"Ada Fort","orcid":"https://orcid.org/0000-0003-0916-1516"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ada Fort","raw_affiliation_strings":["University of Siena,DIISM,Siena,Italy"],"affiliations":[{"raw_affiliation_string":"University of Siena,DIISM,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5005523277"],"corresponding_institution_ids":["https://openalex.org/I102064193"],"apc_list":null,"apc_paid":null,"fwci":1.2422,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80200423,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6774495840072632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5392507314682007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1861843466758728}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6774495840072632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5392507314682007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1861843466758728}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/i2mtc62753.2025.11078990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc62753.2025.11078990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.inrim.it:11696/88722","is_oa":false,"landing_page_url":"https://hdl.handle.net/11696/88722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400708","display_name":"CINECA IRIS Institutional Research Information System (IRIS Istituto Nazionale di Ricerca Metrologica)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"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/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1676025868","https://openalex.org/W1826399803","https://openalex.org/W2036590946","https://openalex.org/W2197206997","https://openalex.org/W2205969003","https://openalex.org/W2216138881","https://openalex.org/W2288941784","https://openalex.org/W2586242418","https://openalex.org/W2790090269","https://openalex.org/W2943828763","https://openalex.org/W3018423233","https://openalex.org/W4200301955","https://openalex.org/W4210481318","https://openalex.org/W4366212614","https://openalex.org/W4400449431","https://openalex.org/W4402518449"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,125],"paper":[1],"presents":[2],"the":[3,44,48,139],"development":[4],"and":[5,39,55,78,92,134],"feasibility":[6],"study":[7],"of":[8,47,84],"a":[9,82,93,102,112,118,142],"supernumerary":[10],"sixth":[11,140],"finger,":[12,50],"an":[13],"assistive":[14,147],"device":[15,61],"designed":[16],"to":[17,42],"restore":[18],"grasping":[19,57,148],"capabilities":[20],"in":[21],"individuals":[22],"with":[23,36,71,81,105],"paretic":[24],"hands,":[25],"enhanced":[26,132],"by":[27],"proprioceptive":[28],"feedback.":[29],"The":[30,59,98],"prototype":[31],"incorporates":[32,62],"soft":[33],"joints":[34,65],"equipped":[35],"highly":[37],"reliable":[38,129],"linear":[40],"sensors":[41],"monitor":[43],"bending":[45,68],"angle":[46,69],"artificial":[49],"allowing":[51],"precise":[52],"trajectory":[53],"tracking":[54],"improved":[56],"functionality.":[58],"robotic":[60],"accurate":[63],"sensor-equipped":[64],"(SJ)":[66],"for":[67,122,145],"measurement,":[70],"measurement":[72],"errors":[73],"consistently":[74],"below":[75],"2":[76],"degrees,":[77],"high":[79],"durability,":[80,133],"drift":[83],"less":[85],"than":[86],"1":[87],"degrees":[88],"per":[89],"1000":[90],"cycles":[91],"lifespan":[94],"exceeding":[95],"3500":[96],"cycles.":[97],"sensing":[99],"mechanism":[100],"employs":[101],"layered":[103],"structure":[104],"two":[106],"metal":[107],"strain":[108],"gauges":[109],"positioned":[110],"on":[111],"nylon":[113],"screen":[114],"mesh":[115],"(SM),":[116],"forming":[117],"Wheatstone":[119],"bridge":[120],"configuration":[121],"optimal":[123],"measurement.":[124],"design":[126],"approach":[127],"ensures":[128],"sensor":[130],"performance,":[131],"minimized":[135],"mechanical":[136],"creep,":[137],"making":[138],"finger":[141],"promising":[143],"solution":[144],"improving":[146],"technology":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-08-05T00:00:00"}