{"id":"https://openalex.org/W2928903784","doi":"https://doi.org/10.1109/icra.2019.8793862","title":"Shape Sensing of Variable Stiffness Soft Robots using Electrical Impedance Tomography","display_name":"Shape Sensing of Variable Stiffness Soft Robots using Electrical Impedance Tomography","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2928903784","doi":"https://doi.org/10.1109/icra.2019.8793862","mag":"2928903784"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793862","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/1904.02429","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"James Avery","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Avery","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Mark Runciman","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mark Runciman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ara Darzi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ara Darzi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"George P. Mylonas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"George P. Mylonas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5952,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.81765134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9066","last_page":"9072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9930999875068665,"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/electrical-impedance-tomography","display_name":"Electrical impedance tomography","score":0.7439000010490417},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6549000144004822},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5602999925613403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5131999850273132},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.5008999705314636},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.46299999952316284},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.43130001425743103},{"id":"https://openalex.org/keywords/tomography","display_name":"Tomography","score":0.3977000117301941},{"id":"https://openalex.org/keywords/repeatability","display_name":"Repeatability","score":0.3971000015735626},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.3781000077724457}],"concepts":[{"id":"https://openalex.org/C155175808","wikidata":"https://www.wikidata.org/wiki/Q1326472","display_name":"Electrical impedance tomography","level":3,"score":0.7439000010490417},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6549000144004822},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5602999925613403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5131999850273132},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5073000192642212},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.46299999952316284},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.42739999294281006},{"id":"https://openalex.org/C163716698","wikidata":"https://www.wikidata.org/wiki/Q841267","display_name":"Tomography","level":2,"score":0.3977000117301941},{"id":"https://openalex.org/C154020017","wikidata":"https://www.wikidata.org/wiki/Q520171","display_name":"Repeatability","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.3781000077724457},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.3684000074863434},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3666999936103821},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.35249999165534973},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33809998631477356},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C60591178","wikidata":"https://www.wikidata.org/wiki/Q488986","display_name":"Electrical resistivity tomography","level":3,"score":0.32350000739097595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3075999915599823},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.29910001158714294},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C34800285","wikidata":"https://www.wikidata.org/wiki/Q5159395","display_name":"Conductor","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.28220000863075256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2815000116825104},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C97742081","wikidata":"https://www.wikidata.org/wiki/Q7820109","display_name":"Tomographic reconstruction","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C8590192","wikidata":"https://www.wikidata.org/wiki/Q1054694","display_name":"Frequency response","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.25769999623298645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C2777418626","wikidata":"https://www.wikidata.org/wiki/Q2584887","display_name":"Electrical capacitance tomography","level":4,"score":0.2542000114917755},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.2515999972820282}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8793862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793862","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:1904.02429","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.02429","pdf_url":"https://arxiv.org/pdf/1904.02429","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/79679","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/79679","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Robotics and Automation (ICRA)","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.02429","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.02429","pdf_url":"https://arxiv.org/pdf/1904.02429","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1962898515","https://openalex.org/W1964933157","https://openalex.org/W1966956646","https://openalex.org/W1971508657","https://openalex.org/W1994268171","https://openalex.org/W2013681472","https://openalex.org/W2040766454","https://openalex.org/W2079574144","https://openalex.org/W2082038539","https://openalex.org/W2083016933","https://openalex.org/W2533696851","https://openalex.org/W2544641369","https://openalex.org/W2584946974","https://openalex.org/W2775141372","https://openalex.org/W2794344186","https://openalex.org/W2803735436","https://openalex.org/W2809000401","https://openalex.org/W2817954052","https://openalex.org/W2826835782"],"related_works":[],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"systems":[2,8],"offer":[3],"benefits":[4],"over":[5],"traditional":[6],"rigid":[7],"through":[9,20],"reduced":[10],"contact":[11],"trauma":[12],"with":[13,61,100,122,147],"soft":[14,32,59,187],"tissues":[15],"and":[16,45,117,138,167],"by":[17],"enabling":[18],"access":[19],"tortuous":[21],"paths":[22],"in":[23,48,109,186],"minimally":[24],"invasive":[25],"surgery.":[26],"However,":[27],"the":[28,162,165,175],"inherent":[29],"deformability":[30],"of":[31,42,94,96,152,164,177],"robots":[33],"places":[34],"both":[35],"a":[36,56,113,118,180],"greater":[37,46],"onus":[38],"on":[39],"accurate":[40],"modelling":[41],"their":[43],"shape,":[44],"challenges":[47],"realising":[49],"intraoperative":[50],"shape":[51,136,184],"sensing.":[52],"Herein":[53],"we":[54],"present":[55],"proprioceptive":[57],"(self-sensing)":[58],"actuator,":[60],"an":[62],"electrically":[63],"conductive":[64],"working":[65],"fluid.":[66],"Electrical":[67,79],"impedance":[68,129],"measurements":[69,95,130,166],"from":[70],"up":[71],"to":[72,134,149],"six":[73],"electrodes":[74],"enabled":[75],"tomographic":[76],"reconstructions":[77],"using":[78],"Impedance":[80],"Tomography":[81],"(EIT).":[82],"A":[83],"new":[84],"Frequency":[85],"Division":[86],"Multiplexed":[87],"(FDM)":[88],"EIT":[89,139],"system":[90],"was":[91,107,157,170],"developed":[92],"capable":[93],"66":[97],"dB":[98],"SNR":[99],"20":[101],"ms":[102],"temporal":[103],"resolution.":[104],"The":[105,172],"concept":[106],"examined":[108],"two":[110],"two-degree-of-freedom":[111],"designs:":[112],"hydraulic":[114,123],"hinged":[115],"actuator":[116,121],"pneumatic":[119],"finger":[120],"beams.":[124],"Both":[125],"cases":[126],"demonstrated":[127],"that":[128],"could":[131],"be":[132],"used":[133],"infer":[135],"changes,":[137],"images":[140,169],"reconstructed":[141],"during":[142],"actuation":[143],"showed":[144],"distinct":[145],"patterns":[146],"respect":[148],"each":[150],"degree":[151],"freedom":[153],"(DOF).":[154],"Whilst":[155],"there":[156],"some":[158],"mechanical":[159],"hysteresis":[160],"observed,":[161],"repeatability":[163],"resultant":[168],"high.":[171],"results":[173],"show":[174],"potential":[176],"FDM-EIT":[178],"as":[179],"low-cost,":[181],"low":[182],"profile":[183],"sensor":[185],"robots.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-04-11T00:00:00"}
