{"id":"https://openalex.org/W2419136601","doi":"https://doi.org/10.1109/icra.2016.7487433","title":"Closed-loop shape control of a Haptic Jamming deformable surface","display_name":"Closed-loop shape control of a Haptic Jamming deformable surface","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2419136601","doi":"https://doi.org/10.1109/icra.2016.7487433","mag":"2419136601"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5014577939","display_name":"Andrew A. Stanley","orcid":"https://orcid.org/0009-0004-0425-753X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew A. Stanley","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028445962","display_name":"Kenji Hata","orcid":"https://orcid.org/0000-0003-4367-9343"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Hata","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":4.6429,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.95690748,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2718","last_page":"2724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9972000122070312,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9972000122070312,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9933000206947327,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.903165340423584},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8862635493278503},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5647594332695007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.557831883430481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5390346646308899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4702766537666321},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44435566663742065},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41031017899513245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3419073224067688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1326216757297516},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1261862814426422},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1115008294582367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10078492760658264}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.903165340423584},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8862635493278503},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5647594332695007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.557831883430481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390346646308899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4702766537666321},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44435566663742065},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41031017899513245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3419073224067688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1326216757297516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1261862814426422},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1115008294582367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10078492760658264},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1927841915","https://openalex.org/W1993990824","https://openalex.org/W2007924815","https://openalex.org/W2014343510","https://openalex.org/W2015875890","https://openalex.org/W2026089596","https://openalex.org/W2036569055","https://openalex.org/W2036723211","https://openalex.org/W2041094000","https://openalex.org/W2055111324","https://openalex.org/W2097937113","https://openalex.org/W2102491248","https://openalex.org/W2106310345","https://openalex.org/W2113331157","https://openalex.org/W2136005460","https://openalex.org/W2143131345","https://openalex.org/W2144124972","https://openalex.org/W2146947104","https://openalex.org/W2156218502","https://openalex.org/W2171447090","https://openalex.org/W2344537984","https://openalex.org/W2516072706","https://openalex.org/W4233962389","https://openalex.org/W4251181231","https://openalex.org/W6648713992","https://openalex.org/W6726338296"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W4200319726","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"A":[0,69],"Haptic":[1,83,121,196,221],"Jamming":[2,84,122,197,222],"tactile":[3],"display,":[4],"consisting":[5],"of":[6,9,25,78,113,119,140,177,191,214],"an":[7,92,173,192],"array":[8,217],"thin":[10],"particle":[11,48],"jamming":[12,49],"cells,":[13,28],"can":[14,224],"change":[15],"its":[16],"shape":[17,56,96,151,169],"and":[18,36,53,152,207],"mechanical":[19],"properties":[20],"simultaneously":[21],"through":[22],"a":[23,66,82,103,116,136,188,195,215,220,226],"combination":[24],"vacuuming":[26],"individual":[27],"pressurizing":[29],"the":[30,34,38,41,75,87,109,114,120,133,148,153,158,161,181,202,205,208],"air":[31],"chamber":[32],"beneath":[33],"surface,":[35,85],"pinning":[37],"nodes":[39],"between":[40,147,204],"cells":[42],"at":[43],"various":[44],"heights.":[45],"In":[46],"previous":[47],"devices":[50],"for":[51,74,81,98,167,229],"haptics":[52],"soft":[54],"robotics,":[55],"has":[57],"typically":[58],"been":[59],"commanded":[60],"open-loop":[61],"or":[62],"manipulated":[63],"directly":[64],"by":[65,91,157],"human":[67],"user.":[68],"new":[70],"algorithm":[71],"was":[72,170],"designed":[73],"three":[76,125],"types":[77],"actuation":[79],"inputs":[80,131],"using":[86],"depth":[88],"map":[89],"provided":[90],"RGB-D":[93],"sensor":[94],"as":[95,129],"feedback":[97],"closed-loop":[99,110],"control":[100,111],"to":[101],"match":[102,228],"desired":[104,130,149,182],"surface":[105,127,184,198,223],"input.":[106],"To":[107],"test":[108],"accuracy":[112],"system,":[115],"mass-spring":[117],"model":[118,190],"device":[123,163],"generated":[124,156,186],"unique":[126],"shapes":[128],"into":[132],"controller":[134,159],"with":[135,172],"mean":[137],"height":[138,175],"range":[139],"25.1":[141],"mm.":[142,179],"The":[143],"average":[144,174],"correlation":[145],"coefficient":[146],"input":[150,183,206],"experimental":[154],"output":[155,209],"on":[160],"actual":[162],"across":[164],"four":[165],"trials":[166],"each":[168],"0.88,":[171],"error":[176],"2.7":[178],"When":[180],"is":[185],"from":[187],"3D":[189],"object":[193],"that":[194,219],"cannot":[199],"necessarily":[200],"re-create,":[201],"difference":[203],"increases":[210],"substantially.":[211],"However,":[212],"simulation":[213],"larger":[216],"suggests":[218],"provide":[225],"compelling":[227],"these":[230],"more":[231],"complicated":[232],"shapes.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
