{"id":"https://openalex.org/W2968417764","doi":"https://doi.org/10.1109/icra.2019.8793612","title":"A Depth Camera-Based Soft Fingertip Device for Contact Region Estimation and Perception-Action Coupling","display_name":"A Depth Camera-Based Soft Fingertip Device for Contact Region Estimation and Perception-Action Coupling","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968417764","doi":"https://doi.org/10.1109/icra.2019.8793612","mag":"2968417764"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793612","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":["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/A5064606654","display_name":"Isabella Huang","orcid":"https://orcid.org/0000-0002-4601-2782"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Isabella Huang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101475375","display_name":"Jingjun Liu","orcid":"https://orcid.org/0000-0002-8165-0528"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjun Liu","raw_affiliation_strings":["Department of Letters and Science, University of Wisconsin-Madison, Madison, WI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Letters and Science, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106083626","display_name":"Ruzena Bajcsy","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruzena Bajcsy","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064606654"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.1737,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.76861813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8443","last_page":"8449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991999864578247,"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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6607822775840759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5736389756202698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5301414728164673},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5024454593658447},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.49360191822052},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46563592553138733},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4646358788013458},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.456494003534317},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.449665904045105},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.4448619782924652},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.42743057012557983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21862393617630005},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.1821390688419342},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07954445481300354}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6607822775840759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5736389756202698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5301414728164673},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5024454593658447},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.49360191822052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46563592553138733},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4646358788013458},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.456494003534317},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.449665904045105},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.4448619782924652},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.42743057012557983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21862393617630005},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.1821390688419342},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07954445481300354},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793612","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1531077914","https://openalex.org/W1826399803","https://openalex.org/W1919477892","https://openalex.org/W1978664317","https://openalex.org/W1982455103","https://openalex.org/W1984187759","https://openalex.org/W2002054993","https://openalex.org/W2036159690","https://openalex.org/W2043050665","https://openalex.org/W2071246152","https://openalex.org/W2079574144","https://openalex.org/W2086584437","https://openalex.org/W2094704372","https://openalex.org/W2098611745","https://openalex.org/W2114424556","https://openalex.org/W2121496208","https://openalex.org/W2124992704","https://openalex.org/W2138528295","https://openalex.org/W2145779572","https://openalex.org/W2150630468","https://openalex.org/W2152864241","https://openalex.org/W2156218502","https://openalex.org/W2171130677","https://openalex.org/W2323956509","https://openalex.org/W2421020186","https://openalex.org/W2618733545","https://openalex.org/W2783627282","https://openalex.org/W2910831843","https://openalex.org/W4251181231","https://openalex.org/W6640177214","https://openalex.org/W6645977099"],"related_works":["https://openalex.org/W3153919089","https://openalex.org/W4322731033","https://openalex.org/W4283740974","https://openalex.org/W4385482464","https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W3167406254","https://openalex.org/W2121836998"],"abstract_inverted_index":{"As":[0],"the":[1,14,18,21,28,67,93,105,131,149],"demand":[2],"for":[3,77],"robotic":[4,25],"applications":[5],"in":[6,23,44,53],"unconstrained":[7],"and":[8,46,59,128,156],"dynamic":[9],"environments":[10],"rises,":[11],"so":[12],"does":[13],"benefit":[15],"of":[16,20,31,69,148],"advancing":[17],"state":[19],"art":[22],"soft":[24,32,54,78,89],"technologies.":[26],"However,":[27],"complex":[29],"capabilities":[30,52],"robots":[33],"elicited":[34],"by":[35,92],"their":[36],"high-dimensional,":[37],"non-linear":[38],"characteristics":[39,152],"simultaneously":[40],"yield":[41],"difficult":[42,60],"challenges":[43],"control":[45,164],"sensing.":[47],"Moreover,":[48],"embedding":[49],"tactile":[50,79],"sensing":[51],"materials":[55],"is":[56],"often":[57],"expensive":[58],"to":[61,117],"fabricate.":[62],"In":[63,82,141],"recent":[64],"years,":[65],"however,":[66],"invention":[68],"small-scale":[70],"depth-sensing":[71],"cameras":[72],"introduced":[73],"a":[74,87,100],"promising":[75],"channel":[76],"sensor":[80],"design.":[81],"this":[83],"work,":[84],"we":[85,143],"propose":[86],"novel":[88],"device":[90],"inspired":[91],"human":[94],"fingertip":[95],"that":[96,130],"not":[97],"only":[98],"utilizes":[99],"small":[101],"depth":[102],"camera":[103],"as":[104],"perception":[106],"mechanism,":[107],"but":[108],"also":[109],"possesses":[110],"compliance-modulating":[111],"capabilities.":[112],"We":[113],"demonstrate":[114],"its":[115,158],"ability":[116],"accurately":[118],"estimate":[119],"contact":[120],"regions":[121],"upon":[122],"interaction":[123],"with":[124,160],"an":[125,145],"external":[126],"obstacle,":[127],"show":[129],"estimation":[132],"sensitivity":[133],"can":[134],"be":[135],"modulated":[136],"via":[137],"internal":[138],"fluid":[139],"states.":[140],"addition,":[142],"determine":[144],"empirical":[146],"model":[147],"device's":[150],"force-deformation":[151],"under":[153],"simplifying":[154],"assumptions,":[155],"validate":[157],"performance":[159],"real-time":[161],"force":[162],"matching":[163],"experiments.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
