{"id":"https://openalex.org/W2967519415","doi":"https://doi.org/10.1109/icra.2019.8794087","title":"Soft tactile sensing: retrieving force, torque and contact point information from deformable surfaces","display_name":"Soft tactile sensing: retrieving force, torque and contact point information from deformable surfaces","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967519415","doi":"https://doi.org/10.1109/icra.2019.8794087","mag":"2967519415"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794087","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11568/993068","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006951591","display_name":"Simone Ciotti","orcid":"https://orcid.org/0000-0003-1418-8553"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Ciotti","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation Research Line, Instituto Italiano di Tecnologia, Via Morego 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation Research Line, Instituto Italiano di Tecnologia, Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072155442","display_name":"Teng Sun","orcid":"https://orcid.org/0000-0002-9425-4284"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Teng Sun","raw_affiliation_strings":["Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King\u2019s College London, WC2R 2LS, London, UK","Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King's College London, WC2R 2LS, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King\u2019s College London, WC2R 2LS, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King's College London, WC2R 2LS, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026792374","display_name":"Edoardo Battaglia","orcid":"https://orcid.org/0000-0002-1445-3962"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Battaglia","raw_affiliation_strings":["Research Center E. Piaggio, University of Pisa, Largo L. Lazzarino 1, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center E. Piaggio, University of Pisa, Largo L. Lazzarino 1, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation Research Line, Instituto Italiano di Tecnologia, Via Morego 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation Research Line, Instituto Italiano di Tecnologia, Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King\u2019s College London, WC2R 2LS, London, UK","Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King's College London, WC2R 2LS, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King\u2019s College London, WC2R 2LS, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Haptic Mechatronics and Medical Robotics (HaMMeR) Lab, King's College London, WC2R 2LS, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004273214","display_name":"Matteo Bianchi","orcid":"https://orcid.org/0000-0003-4747-1697"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bianchi","raw_affiliation_strings":["Department of Information Engineering, University of Pisa, Via G. Caruso 16, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Pisa, Via G. Caruso 16, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4290","last_page":"4296"},"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":0.9988999962806702,"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/centroid","display_name":"Centroid","score":0.8035573959350586},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.745985209941864},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6876840591430664},{"id":"https://openalex.org/keywords/indentation","display_name":"Indentation","score":0.6575618386268616},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5896859169006348},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5518121719360352},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.544653594493866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49889636039733887},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4853459894657135},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4279772639274597},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42471885681152344},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3495256304740906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.276684045791626},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26718515157699585},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25279563665390015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2511700987815857}],"concepts":[{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.8035573959350586},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.745985209941864},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6876840591430664},{"id":"https://openalex.org/C2780902562","wikidata":"https://www.wikidata.org/wiki/Q1154141","display_name":"Indentation","level":2,"score":0.6575618386268616},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5896859169006348},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5518121719360352},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.544653594493866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49889636039733887},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4853459894657135},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4279772639274597},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42471885681152344},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3495256304740906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.276684045791626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26718515157699585},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25279563665390015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2511700987815857},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8794087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794087","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:arpi.unipi.it:11568/993068","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/993068","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/f3d17a19-4cce-46a3-b47c-001f5f8711e1","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/f3d17a19-4cce-46a3-b47c-001f5f8711e1","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/993068","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/993068","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1094789273","display_name":null,"funder_award_id":"EP/N020421/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1560270123","https://openalex.org/W1652032162","https://openalex.org/W1751849476","https://openalex.org/W1887186376","https://openalex.org/W1976664534","https://openalex.org/W1992363613","https://openalex.org/W1998885771","https://openalex.org/W2001381166","https://openalex.org/W2028484327","https://openalex.org/W2031367600","https://openalex.org/W2050805037","https://openalex.org/W2063930976","https://openalex.org/W2064878003","https://openalex.org/W2073060332","https://openalex.org/W2086180075","https://openalex.org/W2115669646","https://openalex.org/W2120099972","https://openalex.org/W2126394059","https://openalex.org/W2157459335","https://openalex.org/W2170553811","https://openalex.org/W2221877149","https://openalex.org/W2463061365","https://openalex.org/W2516314007","https://openalex.org/W2570268714","https://openalex.org/W2781493652","https://openalex.org/W2791667408","https://openalex.org/W2892010946","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2004727624","https://openalex.org/W2381926679","https://openalex.org/W4377229973","https://openalex.org/W2055373071","https://openalex.org/W2005485125","https://openalex.org/W2689443512","https://openalex.org/W2884788118","https://openalex.org/W2000394171","https://openalex.org/W2390718407","https://openalex.org/W2157702526"],"abstract_inverted_index":{"Intrinsic":[0],"Tactile":[1],"Sensing":[2],"(ITS)":[3],"is":[4,33],"a":[5,28,58,71,94,134,177],"well-established":[6],"technique,":[7],"relying":[8,48],"on":[9,49,70],"force/torque":[10,90],"and":[11,89,109,116,131],"geometric":[12],"surface":[13,54,87],"description":[14],"to":[15,42,45,92,141,151],"find":[16],"contact":[17,64],"centroids.":[18],"The":[19,125,171],"method":[20],"works":[21],"well":[22],"for":[23,30,119,146],"rigid":[24],"surfaces.":[25],"However,":[26,133],"finding":[27],"solution":[29,160],"deformable":[31,46],"surfaces":[32],"an":[34,79],"open":[35],"issue.":[36],"This":[37],"work":[38],"presents":[39],"two":[40,126,137],"solutions":[41],"extend":[43],"ITS":[44],"surfaces,":[47],"force-deformation":[50],"characteristics":[51],"of":[52,136],"the":[53,63,75,120,143,147],"under":[55,163],"exploration:":[56],"(i)":[57],"closed-form":[59],"approach":[60],"that":[61,82],"calculates":[62],"centroid":[65],"using":[66,101,139],"standard":[67],"ITS,":[68],"but":[69],"shrunk":[72],"geometry":[73],"approximating":[74],"deformed":[76],"surface;":[77],"(ii)":[78],"iterative":[80],"procedure":[81],"takes":[83],"into":[84],"account":[85],"soft":[86],"deformation,":[88],"equilibrium":[91],"minimize":[93],"cost":[95],"function.":[96],"We":[97],"have":[98,128],"tested":[99],"both":[100,181],"ellipsoid":[102],"silicone":[103],"specimens,":[104],"with":[105],"different":[106,112],"softness":[107],"levels":[108],"indented":[110],"along":[111],"directions.":[113],"Both":[114],"linear":[115],"quadratic":[117],"fitting":[118],"force-indentation":[121],"behavior":[122],"were":[123,174],"employed.":[124],"methods":[127],"distinct":[129],"advantages":[130],"limitations.":[132],"combination":[135],"methods,":[138],"one":[140],"produce":[142],"initial":[144],"guess":[145],"other,":[148],"turns":[149],"out":[150],"be":[152],"very":[153],"effective.":[154],"Indeed,":[155],"in":[156,176],"our":[157],"validation":[158],"this":[159],"showed":[161],"convergence":[162],"1ms,":[164],"attaining":[165],"errors":[166],"lower":[167],"than":[168],"1":[169],"mm.":[170],"proposed":[172],"approaches":[173],"implemented":[175],"ROS-based":[178],"toolbox,":[179],"integrating":[180],"solutions.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
