{"id":"https://openalex.org/W2146734110","doi":"https://doi.org/10.1109/icra.2012.6224666","title":"Basic experiments of three-axis tactile sensor using optical flow","display_name":"Basic experiments of three-axis tactile sensor using optical flow","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2146734110","doi":"https://doi.org/10.1109/icra.2012.6224666","mag":"2146734110"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5038908583","display_name":"Masahiro Ohka","orcid":"https://orcid.org/0000-0001-5277-4356"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masahiro Ohka","raw_affiliation_strings":["Graduate School of Information Science, University of Nagoya, Nagoya, Japan","Graduate School of Information Science, Nagoya University, Furo-cho, Chikusaku, 464-8601, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Information Science, Nagoya University, Furo-cho, Chikusaku, 464-8601, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090634106","display_name":"Takuya Matsunaga","orcid":"https://orcid.org/0000-0001-7813-5982"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Matsunaga","raw_affiliation_strings":["Graduate School of Information Science, University of Nagoya, Japan","Graduate School of Information Science Nagoya University, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, University of Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Information Science Nagoya University, Japan#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009948071","display_name":"Yu NOJIMA","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yu Nojima","raw_affiliation_strings":["Graduate School of Information Science, University of Nagoya, Japan","Graduate School of Information Science Nagoya University, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, University of Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Information Science Nagoya University, Japan#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087233037","display_name":"Daiji Noda","orcid":null},"institutions":[{"id":"https://openalex.org/I180941496","display_name":"University of Hyogo","ror":"https://ror.org/0151bmh98","country_code":"JP","type":"education","lineage":["https://openalex.org/I180941496"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daiji Noda","raw_affiliation_strings":["Advanced Science and Technology for Industry, University of Hyogo, Japan","University of Hyogo Laboratory of Advanced Science and Technology for Industry, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Science and Technology for Industry, University of Hyogo, Japan","institution_ids":["https://openalex.org/I180941496"]},{"raw_affiliation_string":"University of Hyogo Laboratory of Advanced Science and Technology for Industry, Japan","institution_ids":["https://openalex.org/I180941496"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103457337","display_name":"Tadashi Hattori","orcid":null},"institutions":[{"id":"https://openalex.org/I180941496","display_name":"University of Hyogo","ror":"https://ror.org/0151bmh98","country_code":"JP","type":"education","lineage":["https://openalex.org/I180941496"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadashi Hattori","raw_affiliation_strings":["Advanced Science and Technology for Industry, University of Hyogo, Japan","University of Hyogo Laboratory of Advanced Science and Technology for Industry, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Science and Technology for Industry, University of Hyogo, Japan","institution_ids":["https://openalex.org/I180941496"]},{"raw_affiliation_string":"University of Hyogo Laboratory of Advanced Science and Technology for Industry, Japan","institution_ids":["https://openalex.org/I180941496"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038908583"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":0.6051,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70332841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"1404","last_page":"1409"},"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":0.9980000257492065,"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":0.9980000257492065,"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":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9959999918937683,"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/tactile-sensor","display_name":"Tactile sensor","score":0.761399507522583},{"id":"https://openalex.org/keywords/normal-force","display_name":"Normal force","score":0.715670108795166},{"id":"https://openalex.org/keywords/grayscale","display_name":"Grayscale","score":0.4910597801208496},{"id":"https://openalex.org/keywords/optical-axis","display_name":"Optical axis","score":0.4485364258289337},{"id":"https://openalex.org/keywords/normal","display_name":"Normal","score":0.4173011779785156},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.39414769411087036},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.3606832027435303},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.35437437891960144},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2605520486831665},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.26020365953445435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.23759788274765015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23538944125175476},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20095261931419373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17965549230575562},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.17895588278770447}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.761399507522583},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.715670108795166},{"id":"https://openalex.org/C78201319","wikidata":"https://www.wikidata.org/wiki/Q685727","display_name":"Grayscale","level":3,"score":0.4910597801208496},{"id":"https://openalex.org/C3756478","wikidata":"https://www.wikidata.org/wiki/Q3410566","display_name":"Optical axis","level":3,"score":0.4485364258289337},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.4173011779785156},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.39414769411087036},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.3606832027435303},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.35437437891960144},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2605520486831665},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.26020365953445435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.23759788274765015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23538944125175476},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20095261931419373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17965549230575562},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.17895588278770447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.49000000953674316,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1496187024","https://openalex.org/W2058737210","https://openalex.org/W2067689171","https://openalex.org/W2080250879","https://openalex.org/W2087582531","https://openalex.org/W2118877769","https://openalex.org/W2123689568","https://openalex.org/W2169991067","https://openalex.org/W2184347273","https://openalex.org/W4236425262","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W3213524640","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W3163518500","https://openalex.org/W2000657722","https://openalex.org/W2734561034","https://openalex.org/W4286671281","https://openalex.org/W1996246968","https://openalex.org/W2744496258","https://openalex.org/W2003076220"],"abstract_inverted_index":{"Three-axis":[0],"tactile":[1,19,54,123],"sensing":[2,73],"has":[3,141],"advantages":[4],"for":[5,229],"grasping":[6],"an":[7],"object":[8],"of":[9,65,75,85,102,152,205,227],"unknown":[10],"mass":[11],"and":[12,83,114,120,129,145,157,173,212],"hardness.":[13],"We":[14],"developed":[15],"a":[16,23,28,33,91,99,103,137,142,146,150,225],"new":[17],"three-axis":[18,53,230],"sensor":[20,77,119],"that":[21,140],"possesses":[22],"simple":[24],"structure":[25],"to":[26,117,126,161,198],"endure":[27],"large":[29],"applied":[30,111],"force":[31,37,57,116,159,176,182,195,211,231],"from":[32,179],"powerful":[34],"grasp.":[35],"Normal":[36],"distribution":[38,58],"is":[39,59,177,189,196],"measured":[40],"based":[41],"on":[42,90],"grayscale":[43,171],"values":[44],"obtained":[45,178],"by":[46,61,69,80],"image":[47,66],"data":[48,67],"processing,":[49],"as":[50],"with":[51,218],"previous":[52],"sensors.":[55],"Tangential":[56],"determined":[60],"the":[62,81,118,170,174,180,185,193,199,206,209,213],"linear":[63,167],"movement":[64],"calculated":[68],"optical":[70,187,201,215],"flow.":[71,202],"The":[72,166,203],"characteristics":[74],"this":[76,122],"are":[78],"dominated":[79],"configuration":[82],"material":[84],"fine":[86,100],"conical":[87],"feelers":[88],"formed":[89],"silicon":[92,104],"rubber":[93,105],"sheet.":[94,106],"By":[95],"UV-LIGA,":[96],"we":[97,110,135,154,223],"obtain":[98,162],"mold":[101],"In":[107,132,149],"evaluation":[108],"experiments,":[109,153],"both":[112],"normal":[113,128,156,175,181,220],"tangential":[115,130,158,194,210],"confirmed":[121],"sensor's":[124],"ability":[125],"acquire":[127],"forces.":[131],"its":[133,163],"design,":[134],"utilize":[136],"USB":[138],"microscope":[139],"CMOS":[143],"camera":[144],"light":[147],"source.":[148],"series":[151,226],"performed":[155],"tests":[160],"basic":[164],"characteristics.":[165],"relationship":[168,207],"between":[169,208],"value":[172],"test.":[183],"If":[184],"average":[186,200,214],"flow":[188,216],"under":[190],"0.2":[191],"mm,":[192],"proportional":[197],"slope":[204],"increases":[217],"additional":[219],"force.":[221],"Finally,":[222],"derive":[224],"equations":[228],"calculation.":[232]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}