{"id":"https://openalex.org/W2968496598","doi":"https://doi.org/10.1109/icra.2019.8794276","title":"Internal Array Electrodes Improve the Spatial Resolution of Soft Tactile Sensors Based on Electrical Resistance Tomography","display_name":"Internal Array Electrodes Improve the Spatial Resolution of Soft Tactile Sensors Based on Electrical Resistance Tomography","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968496598","doi":"https://doi.org/10.1109/icra.2019.8794276","mag":"2968496598"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794276","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/A5103260057","display_name":"Hyosang Lee","orcid":"https://orcid.org/0000-0001-8984-7870"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hyosang Lee","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037889492","display_name":"Kyungseo Park","orcid":"https://orcid.org/0000-0002-9146-2686"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungseo Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608898","display_name":"Jung Kim","orcid":"https://orcid.org/0000-0002-1825-6325"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103260057"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":1.2955,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.78676626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5411","last_page":"5417"},"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9993000030517578,"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/T11472","display_name":"Analytical Chemistry and Sensors","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/1502","display_name":"Bioengineering"},"field":{"id":"https://openalex.org/fields/15","display_name":"Chemical Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7392231822013855},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6011276245117188},{"id":"https://openalex.org/keywords/image-resolution","display_name":"Image resolution","score":0.5386739373207092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5268527269363403},{"id":"https://openalex.org/keywords/electrode-array","display_name":"Electrode array","score":0.5029684901237488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49796104431152344},{"id":"https://openalex.org/keywords/sensor-array","display_name":"Sensor array","score":0.4587756097316742},{"id":"https://openalex.org/keywords/electrode","display_name":"Electrode","score":0.4489186108112335},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.44604647159576416},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.44516628980636597},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.4047158360481262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3371417224407196},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.23569732904434204},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.23305407166481018},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23152732849121094}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7392231822013855},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6011276245117188},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.5386739373207092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5268527269363403},{"id":"https://openalex.org/C97562148","wikidata":"https://www.wikidata.org/wiki/Q5357989","display_name":"Electrode array","level":3,"score":0.5029684901237488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49796104431152344},{"id":"https://openalex.org/C66251956","wikidata":"https://www.wikidata.org/wiki/Q7451086","display_name":"Sensor array","level":2,"score":0.4587756097316742},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.4489186108112335},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.44604647159576416},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.44516628980636597},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.4047158360481262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3371417224407196},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.23569732904434204},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.23305407166481018},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23152732849121094},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794276","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:pure.mpg.de:item_3250216","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0006-F5CE-E","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA 2019)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"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/W203775923","https://openalex.org/W247229540","https://openalex.org/W1565505249","https://openalex.org/W1992580017","https://openalex.org/W2020058391","https://openalex.org/W2031763660","https://openalex.org/W2037486375","https://openalex.org/W2045301133","https://openalex.org/W2053510218","https://openalex.org/W2054947395","https://openalex.org/W2059644152","https://openalex.org/W2073060332","https://openalex.org/W2083300563","https://openalex.org/W2095532528","https://openalex.org/W2105149350","https://openalex.org/W2112991774","https://openalex.org/W2119056404","https://openalex.org/W2124060020","https://openalex.org/W2130883172","https://openalex.org/W2140083835","https://openalex.org/W2154104679","https://openalex.org/W2157426451","https://openalex.org/W2166368135","https://openalex.org/W2171130677","https://openalex.org/W2207726318","https://openalex.org/W2511197415","https://openalex.org/W2580898283","https://openalex.org/W2591752337","https://openalex.org/W2738615740","https://openalex.org/W2775635818","https://openalex.org/W4232543063"],"related_works":["https://openalex.org/W2161707560","https://openalex.org/W2622859989","https://openalex.org/W2969897127","https://openalex.org/W4293193009","https://openalex.org/W2770486845","https://openalex.org/W2071328791","https://openalex.org/W2373005596","https://openalex.org/W2735448364","https://openalex.org/W2093429707","https://openalex.org/W2051960427"],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,61,143],"unstructured":[3],"environments":[4],"would":[5],"benefit":[6],"from":[7,98],"soft":[8,151],"whole-body":[9],"tactile":[10,152],"sensors,":[11],"but":[12],"implementing":[13],"such":[14],"systems":[15],"typically":[16],"requires":[17],"complex":[18],"electrical":[19,32],"wiring":[20],"to":[21,84,118,202],"a":[22,67,77,99,149,170],"large":[23],"number":[24,121],"of":[25,52,70,80,102,110,122,127,155,185],"sensing":[26,54],"elements.":[27],"The":[28],"reconstruction":[29],"method":[30],"called":[31],"resistance":[33],"tomography":[34],"(ERT)":[35],"has":[36],"shown":[37],"promising":[38],"results":[39],"(good":[40],"coverage,":[41],"manufacturability,":[42],"and":[43,130],"robustness)":[44],"using":[45],"electrodes":[46,83,139,199],"located":[47],"only":[48,196],"along":[49],"the":[50,53,62,71,92,103,108,120,128,136,144,178],"boundary":[51],"region.":[55,146],"However,":[56],"relatively":[57],"poor":[58],"spatial":[59,86],"resolution":[60],"sensor's":[63],"central":[64,145],"region":[65],"is":[66,193],"major":[68],"drawback":[69],"ERT":[72,104],"approach.":[73],"This":[74,191],"paper":[75],"introduces":[76],"new":[78],"scheme":[79],"internal":[81,137],"array":[82,138],"improve":[85,141],"resolution.":[87],"We":[88],"also":[89],"systematically":[90],"derive":[91],"optimal":[93],"pairwise":[94],"current":[95,123],"injection":[96,124],"patterns":[97],"mathematical":[100],"formulation":[101],"system.":[105],"By":[106],"highlighting":[107],"importance":[109],"each":[111],"electrode":[112],"pair,":[113],"this":[114,204],"approach":[115],"enabled":[116],"us":[117],"reduce":[119],"patterns.":[125],"Simulation":[126],"standard":[129],"proposed":[131],"sensor":[132,153,180],"designs":[133],"revealed":[134],"that":[135,163],"greatly":[140],"distinguishability":[142],"For":[147],"validation,":[148],"fabric-based":[150],"made":[154],"multiple":[156],"conductive":[157],"fabrics":[158],"was":[159],"developed,":[160],"including":[161],"electronics":[162],"enable":[164],"sampling":[165],"at":[166],"200":[167],"Hz.":[168],"During":[169],"225-point":[171],"localization":[172,183],"test":[173],"conducted":[174],"without":[175],"sensor-specific":[176],"calibration,":[177],"constructed":[179],"showed":[181],"average":[182],"errors":[184],"2.85":[186],"cm":[187],"\u00b1":[188],"1.02":[189],"cm.":[190],"result":[192],"notable":[194],"because":[195],"16":[197],"point":[198],"were":[200],"used":[201],"achieve":[203],"performance.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}