{"id":"https://openalex.org/W4409796505","doi":"https://doi.org/10.1109/icarsc65809.2025.10970182","title":"Self-Sensing Soft Finger Produced from Conductive TPU for Adaptive Grasping and Force Sensing Applications","display_name":"Self-Sensing Soft Finger Produced from Conductive TPU for Adaptive Grasping and Force Sensing Applications","publication_year":2025,"publication_date":"2025-04-02","ids":{"openalex":"https://openalex.org/W4409796505","doi":"https://doi.org/10.1109/icarsc65809.2025.10970182"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc65809.2025.10970182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5018228892","display_name":"Rodrigo Antunes","orcid":"https://orcid.org/0009-0002-6599-6905"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Antunes","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113426339","display_name":"Luan Lang","orcid":"https://orcid.org/0000-0002-2857-3092"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luan Lang","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085353957","display_name":"Martim Lima de Aguiar","orcid":"https://orcid.org/0000-0003-0672-0378"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Martim Lima de Aguiar","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060304415","display_name":"Thiago Assis Dutra","orcid":"https://orcid.org/0000-0002-3576-5703"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Thiago Assis Dutra","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087121439","display_name":"Pedro Dinis Gaspar","orcid":"https://orcid.org/0000-0003-1691-1709"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Dinis Gaspar","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005458904","display_name":"Nuno Pereira","orcid":"https://orcid.org/0000-0001-7177-751X"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Jos\u00e9 Matos Pereira","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161321875"],"apc_list":null,"apc_paid":null,"fwci":3.99,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88156664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"39","last_page":"44"},"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":0.9327999949455261,"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":0.9327999949455261,"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":0.9228000044822693,"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/electrical-conductor","display_name":"Electrical conductor","score":0.7337548732757568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4879741072654724},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4261842370033264},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.11965325474739075}],"concepts":[{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.7337548732757568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4879741072654724},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4261842370033264},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.11965325474739075}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc65809.2025.10970182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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":9,"referenced_works":["https://openalex.org/W2432137114","https://openalex.org/W2921399728","https://openalex.org/W3200203756","https://openalex.org/W3209123382","https://openalex.org/W4386531676","https://openalex.org/W4386869592","https://openalex.org/W4398250730","https://openalex.org/W4398253076","https://openalex.org/W4403277012"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4404995717","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W4409278740","https://openalex.org/W2898370298"],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"systems":[2],"are":[3],"increasingly":[4],"being":[5],"developed":[6],"for":[7,60,67,91,212],"applications":[8,214],"that":[9,103],"require":[10],"handling":[11],"fragile":[12],"or":[13],"irregularly":[14],"shaped":[15],"objects,":[16],"such":[17,173],"as":[18,174],"in":[19,132,137,176,215,220],"agriculture,":[20],"medical":[21],"robotics,":[22],"and":[23,86,139,157,183,198,225],"industrial":[24],"automation.":[25],"This":[26,167],"paper":[27],"presents":[28],"a":[29,105],"self-sensing":[30,121,209],"soft":[31,150,210],"finger":[32,56,151,211],"fabricated":[33],"entirely":[34],"from":[35],"conductive":[36],"thermoplastic":[37],"polyurethane":[38],"(TPU),":[39],"combining":[40],"adaptive":[41],"grasping":[42],"capabilities":[43],"with":[44],"integrated":[45],"piezoresistive":[46],"force":[47,68,164,181],"sensing.":[48],"Inspired":[49],"by":[50,63],"the":[51,55,58,81,116,120,133,146,149,177,189,205,208],"Fin":[52],"Ray":[53],"Effect,":[54],"eliminates":[57],"need":[59],"external":[61],"sensors":[62],"using":[64],"its":[65,160],"structure":[66],"measurement.":[69],"Additive":[70],"manufacturing":[71,227],"through":[72,100],"Fused":[73],"Filament":[74],"Fabrication":[75],"(FFF)":[76],"was":[77,98,127],"used":[78],"to":[79,109,129,162,194],"produce":[80],"finger,":[82],"offering":[83],"an":[84],"efficient":[85],"cost-effective":[87],"fabrication":[88],"process":[89],"suitable":[90],"scalable":[92],"applications.":[93],"The":[94,143,202],"finger's":[95],"sensing":[96,200],"performance":[97],"validated":[99],"experimental":[101],"tests":[102],"employed":[104],"calibrated":[106],"load":[107],"cell":[108],"measure":[110],"applied":[111,128],"forces":[112],"while":[113],"simultaneously":[114],"recording":[115],"analog":[117,134],"output":[118],"of":[119,148,191,207],"finger.":[122],"A":[123],"Moving":[124],"Median":[125],"filter":[126],"reduce":[130],"noise":[131],"data,":[135],"resulting":[136],"smoother":[138],"more":[140],"interpretable":[141],"readings.":[142],"results":[144,203],"confirmed":[145],"reliability":[147],"under":[152],"different":[153],"gripper":[154],"closure":[155],"percentages":[156],"speeds,":[158],"demonstrating":[159],"capability":[161],"track":[163],"variations":[165],"accurately.":[166],"study":[168],"also":[169],"identifies":[170],"some":[171],"challenges,":[172],"inconsistencies":[175],"readings":[178],"at":[179],"lower":[180],"levels,":[182],"outlines":[184],"possible":[185],"future":[186],"improvements,":[187],"including":[188],"integration":[190],"multi-material":[192],"printing":[193],"isolate":[195],"structural":[196],"elements":[197],"enhance":[199],"differentiation.":[201],"highlight":[204],"potential":[206],"practical":[213],"delicate":[216],"object":[217],"manipulation,":[218],"particularly":[219],"fields":[221],"like":[222],"fruit":[223],"handling,":[224],"automated":[226],"systems.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}