{"id":"https://openalex.org/W3090480401","doi":"https://doi.org/10.1109/icra40945.2020.9196925","title":"Low-Cost Fiducial-based 6-Axis Force-Torque Sensor","display_name":"Low-Cost Fiducial-based 6-Axis Force-Torque Sensor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090480401","doi":"https://doi.org/10.1109/icra40945.2020.9196925","mag":"3090480401"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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/A5031281642","display_name":"Rui Ouyang","orcid":"https://orcid.org/0000-0001-7036-9397"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rui Ouyang","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Howe","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031281642"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":1.4712,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82174125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1653","last_page":"1659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9911999702453613,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9900000095367432,"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/fiducial-marker","display_name":"Fiducial marker","score":0.5951005816459656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49673324823379517},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4251961410045624}],"concepts":[{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.5951005816459656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49673324823379517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4251961410045624}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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":17,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1994349244","https://openalex.org/W2016000778","https://openalex.org/W2125188427","https://openalex.org/W2125959037","https://openalex.org/W2140551564","https://openalex.org/W2150347298","https://openalex.org/W2242521349","https://openalex.org/W2569244399","https://openalex.org/W2579972885","https://openalex.org/W2586818221","https://openalex.org/W2781493652","https://openalex.org/W2791798734","https://openalex.org/W3210232381","https://openalex.org/W4297706136","https://openalex.org/W6749374317","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2525537761","https://openalex.org/W2072325087","https://openalex.org/W402593573","https://openalex.org/W2905789513","https://openalex.org/W2972424784","https://openalex.org/W1486589819","https://openalex.org/W1429720065","https://openalex.org/W2948909270"],"abstract_inverted_index":{"Commercial":[0],"six-axis":[1,184],"force-torque":[2,185],"sensors":[3,200],"suffer":[4],"from":[5,161],"being":[6],"some":[7],"combination":[8],"of":[9,49,102,196],"expensive,":[10],"fragile,":[11],"and":[12,31,76,122,128,131,139,194],"hard-touse.":[13],"We":[14,85],"propose":[15],"a":[16,36,96],"new":[17,188],"fiducial-based":[18],"design":[19,149,207],"which":[20,55],"addresses":[21],"all":[22],"three":[23],"points.":[24],"The":[25,71,146,204],"sensor":[26,72,153,206],"uses":[27],"an":[28],"inexpensive":[29],"webcam":[30],"can":[32,77,208],"be":[33,78,155,209],"fabricated":[34],"using":[35],"consumer-grade":[37],"3D":[38,47],"printer.":[39],"Open-source":[40],"software":[41],"is":[42,56,73],"used":[43,58],"to":[44,59,154,164,182,187],"estimate":[45],"the":[46,50,53,61,106,134,152,168,191],"pose":[48],"fiducials":[51],"on":[52],"sensor,":[54],"then":[57],"calculate":[60],"applied":[62],"force-torque.":[63],"A":[64],"browser-based":[65],"(installation":[66],"free)":[67],"interface":[68],"demonstrates":[69],"ease-of-use.":[70],"very":[74],"light":[75],"dropped":[79],"or":[80],"thrown":[81],"with":[82,175],"little":[83],"concern.":[84],"characterize":[86],"our":[87],"prototype":[88],"in":[89],"dynamic":[90],"conditions":[91],"under":[92],"compound":[93],"loading,":[94],"finding":[95],"mean":[97],"R":[98],"<sup":[99],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[100,109,114,119,125,137,142],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[101],"over":[103,129],"0.99":[104],"for":[105,133,157,172],"F":[107,112,135],"<sub":[108,113,118,124,136,141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">x</sub>":[110,120],",":[111,116,121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">y</sub>":[115,126],"M":[117,123,140],"axes,":[127],"0.87":[130],"0.90":[132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">z</sub>":[138,143],"axes":[144],"respectively.":[145],"open":[147],"source":[148],"files":[150],"allow":[151],"adapted":[156],"diverse":[158],"applications":[159,189],"ranging":[160],"robot":[162],"fingers":[163],"human-computer":[165],"interfaces,":[166],"while":[167],"sdesign":[169],"principle":[170],"allows":[171],"quick":[173],"changes":[174],"minimal":[176],"technical":[177],"expertise.":[178],"This":[179],"approach":[180],"promises":[181],"bring":[183],"sensing":[186],"where":[190],"precision,":[192],"cost,":[193],"fragility":[195],"traditional":[197],"strain-gauge":[198],"based":[199],"are":[201],"not":[202],"appropriate.":[203],"open-source":[205],"viewed":[210],"at":[211],"http://sites.google.com/view/fiducialforcesensor.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}