{"id":"https://openalex.org/W2966960135","doi":"https://doi.org/10.1109/icra.2019.8793262","title":"Color-Coded Fiber-Optic Tactile Sensor for an Elastomeric Robot Skin","display_name":"Color-Coded Fiber-Optic Tactile Sensor for an Elastomeric Robot Skin","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2966960135","doi":"https://doi.org/10.1109/icra.2019.8793262","mag":"2966960135"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.03687","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhanat Kappassov","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Zhanat Kappassov","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daulet Baimukashev","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Daulet Baimukashev","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zharaskhan Kuanyshuly","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Zharaskhan Kuanyshuly","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yerzhan Massalin","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Yerzhan Massalin","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Arshat Urazbayev","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Arshat Urazbayev","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"last","author":{"id":null,"display_name":"Huseyin Atakan Varol","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Huseyin Atakan Varol","raw_affiliation_strings":["Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60559429"],"apc_list":null,"apc_paid":null,"fwci":1.2899,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.78556919,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2146","last_page":"2152"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9991999864578247,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8651000261306763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6442000269889832},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5411999821662903},{"id":"https://openalex.org/keywords/silicone-rubber","display_name":"Silicone rubber","score":0.4758000075817108},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.41780000925064087},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.382999986410141},{"id":"https://openalex.org/keywords/image-resolution","display_name":"Image resolution","score":0.362199991941452}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8651000261306763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6809999942779541},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6521000266075134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6442000269889832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5619000196456909},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5411999821662903},{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.4758000075817108},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.382999986410141},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.362199991941452},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3594000041484833},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C2984899217","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Tactile display","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C3020199158","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"High resolution","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26669999957084656},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.263700008392334}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.03687","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.03687","pdf_url":"https://arxiv.org/pdf/1908.03687","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.03687","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.03687","pdf_url":"https://arxiv.org/pdf/1908.03687","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1913176802","https://openalex.org/W1965890979","https://openalex.org/W1999111105","https://openalex.org/W2044258091","https://openalex.org/W2049609871","https://openalex.org/W2067689171","https://openalex.org/W2070970799","https://openalex.org/W2097937113","https://openalex.org/W2125959037","https://openalex.org/W2146665817","https://openalex.org/W2152521250","https://openalex.org/W2157950978","https://openalex.org/W2178769576","https://openalex.org/W2592171038","https://openalex.org/W2593610497","https://openalex.org/W2775635818","https://openalex.org/W2775693038","https://openalex.org/W2781493652","https://openalex.org/W2793447234","https://openalex.org/W2799692011","https://openalex.org/W2804670675","https://openalex.org/W2807271440","https://openalex.org/W2837391606","https://openalex.org/W2909459688","https://openalex.org/W2962983231","https://openalex.org/W2963263790"],"related_works":[],"abstract_inverted_index":{"The":[0,149],"sense":[1],"of":[2,29,83,90,116,138,146],"touch":[3],"is":[4,76,153],"essential":[5],"for":[6,104,155],"reliable":[7],"mapping":[8,111],"between":[9],"the":[10,30,33,63,68,80,88,110,135,143],"environment":[11],"and":[12,52,97,142,158],"a":[13,98,117,126],"robot":[14],"which":[15],"interacts":[16],"physically":[17],"with":[18,32,134],"objects.":[19],"Presumably,":[20],"an":[21,53],"artificial":[22],"tactile":[23,42,151,156,165],"skin":[24],"would":[25],"facilitate":[26],"safe":[27],"interaction":[28],"robots":[31],"environment.":[34],"In":[35],"this":[36],"work,":[37],"we":[38,108],"present":[39],"our":[40,122],"color-coded":[41,150],"sensor,":[43],"incorporating":[44],"plastic":[45],"optical":[46],"fibers":[47],"(POF),":[48],"transparent":[49],"silicone":[50],"rubber":[51],"off-the-shelf":[54],"color":[55],"camera.":[56],"Processing":[57],"electronics":[58],"are":[59],"placed":[60],"away":[61],"from":[62,112],"sensing":[64,128],"surface":[65],"to":[66,71,79,87,114,131],"make":[67],"sensor":[69,152],"robust":[70,164],"harsh":[72],"environments.":[73],"Contact":[74],"localization":[75],"possible":[77],"thanks":[78],"lower":[81],"number":[82,89],"light":[84],"sources":[85],"compared":[86],"camera":[91],"POFs.":[92],"Classical":[93],"machine":[94],"learning":[95],"techniques":[96],"hierarchical":[99],"classification":[100],"scheme":[101],"were":[102],"used":[103],"contact":[105],"localization.":[106],"Specifically,":[107],"generated":[109],"stimulation":[113],"sensation":[115],"robotic":[118],"perception":[119],"system":[120],"using":[121],"sensor.":[123],"We":[124],"achieved":[125],"force":[127,136],"range":[129],"up":[130],"18":[132],"N":[133,141],"resolution":[137,145],"around":[139],"3.6":[140],"spatial":[144],"8":[147],"mm.":[148],"suitable":[154],"exploration":[157],"might":[159],"enable":[160],"further":[161],"innovations":[162],"in":[163],"sensing.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2019-08-22T00:00:00"}