{"id":"https://openalex.org/W3090345340","doi":"https://doi.org/10.1109/icra40945.2020.9197361","title":"An ERT-based Robotic Skin with Sparsely Distributed Electrodes: Structure, Fabrication, and DNN-based Signal Processing","display_name":"An ERT-based Robotic Skin with Sparsely Distributed Electrodes: Structure, Fabrication, and DNN-based Signal Processing","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090345340","doi":"https://doi.org/10.1109/icra40945.2020.9197361","mag":"3090345340"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197361","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/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":true,"raw_author_name":"Kyungseo Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"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/A5101412469","display_name":"Hyunkyu Park","orcid":"https://orcid.org/0000-0001-5121-2917"},"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":"Hyunkyu Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"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/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":false,"raw_author_name":"Hyosang Lee","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Stuttgart,Germany,70569","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I4210135521"]},{"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/A5100620757","display_name":"Sungbin Park","orcid":"https://orcid.org/0000-0001-9700-2608"},"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":"Sungbin Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"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/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,34141","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037889492"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.1843,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.88137805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1617","last_page":"1624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9998999834060669,"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":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9939000010490417,"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/electrode","display_name":"Electrode","score":0.6329455375671387},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6243675351142883},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.5950745940208435},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.5679126977920532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.548319935798645},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.524564266204834},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4666825234889984},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.427909791469574},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.42684322595596313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40264350175857544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40179508924484253},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3848782777786255},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33463406562805176},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3297198414802551},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14665791392326355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1214064359664917}],"concepts":[{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.6329455375671387},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6243675351142883},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.5950745940208435},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.5679126977920532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548319935798645},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.524564266204834},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4666825234889984},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.427909791469574},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.42684322595596313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40264350175857544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40179508924484253},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3848782777786255},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33463406562805176},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3297198414802551},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14665791392326355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1214064359664917},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197361","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":[{"id":"https://metadata.un.org/sdg/14","score":0.6000000238418579,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1988714249","https://openalex.org/W2002606334","https://openalex.org/W2016344151","https://openalex.org/W2021137578","https://openalex.org/W2021363669","https://openalex.org/W2022529233","https://openalex.org/W2037486375","https://openalex.org/W2054694377","https://openalex.org/W2093989592","https://openalex.org/W2099322603","https://openalex.org/W2111406701","https://openalex.org/W2112890043","https://openalex.org/W2119056404","https://openalex.org/W2133835651","https://openalex.org/W2134934663","https://openalex.org/W2137425275","https://openalex.org/W2137627159","https://openalex.org/W2151220638","https://openalex.org/W2156062145","https://openalex.org/W2170553811","https://openalex.org/W2208700714","https://openalex.org/W2333499035","https://openalex.org/W2466097895","https://openalex.org/W2559216438","https://openalex.org/W2745974407","https://openalex.org/W2781661275","https://openalex.org/W2795198316","https://openalex.org/W2951259175","https://openalex.org/W2964121744","https://openalex.org/W2968095426","https://openalex.org/W2968496598","https://openalex.org/W2968967434","https://openalex.org/W3003319185","https://openalex.org/W4285719527","https://openalex.org/W6631190155","https://openalex.org/W6719124689","https://openalex.org/W6742924326","https://openalex.org/W6750128712","https://openalex.org/W6755109041"],"related_works":["https://openalex.org/W2142311551","https://openalex.org/W1548368440","https://openalex.org/W2075082765","https://openalex.org/W2946288499","https://openalex.org/W2883717048","https://openalex.org/W2061141771","https://openalex.org/W3092800402","https://openalex.org/W2096185181","https://openalex.org/W4360979660","https://openalex.org/W2091974750"],"abstract_inverted_index":{"Electrical":[0],"resistance":[1],"tomography":[2],"(ERT)":[3],"has":[4],"previously":[5],"been":[6],"utilized":[7],"to":[8,43,109,134,185,214,218],"develop":[9],"a":[10,29,34,38,44,53,59,104,111,116,144,192,223],"large-scale":[11],"tactile":[12],"sensor":[13,35,49,65,83,138,166],"because":[14,56],"this":[15,48,76,86],"approach":[16,205],"enables":[17],"the":[18,21,25,61,64,82,125,129,135,161,165,207],"estimation":[19],"of":[20,63,164,183,196,209],"conductivity":[22],"distribution":[23],"among":[24],"electrodes":[26,120],"based":[27],"on":[28,115],"known":[30],"physical":[31],"model.":[32],"Such":[33],"made":[36],"with":[37,94,152,176,191],"stretchable":[39],"material":[40],"can":[41],"conform":[42],"curved":[45],"surface.":[46,118],"However,":[47],"cannot":[50],"fully":[51],"cover":[52],"cylindrical":[54,117],"surface":[55,126],"in":[57,75,124,222],"such":[58],"configuration,":[60],"edges":[62],"must":[66],"meet":[67],"each":[68],"other.":[69],"The":[70,119,137,203],"electrode":[71],"configuration":[72],"becomes":[73],"irregular":[74],"edge":[77],"region,":[78],"which":[79,149,172],"may":[80],"degrade":[81],"performance.":[84],"In":[85],"paper,":[87],"we":[88,102],"introduce":[89],"an":[90],"ERT-based":[91],"robotic":[92],"skin":[93],"evenly":[95],"and":[96,225],"sparsely":[97],"distributed":[98],"electrodes.":[99,179],"For":[100],"implementation,":[101],"sprayed":[103],"carbon":[105],"nanotube":[106],"(CNT)-dispersed":[107],"solution":[108],"form":[110],"conductive":[112],"sensing":[113,193],"domain":[114,194],"were":[121,131,141],"firmly":[122],"embedded":[123],"so":[127],"that":[128,160],"wires":[130],"not":[132],"exposed":[133],"outside.":[136],"output":[139],"images":[140],"estimated":[142],"using":[143],"deep":[145],"neural":[146],"network":[147],"(DNN),":[148],"was":[150,167],"trained":[151],"noisy":[153],"simulation":[154],"data.":[155],"An":[156],"indentation":[157],"experiment":[158],"revealed":[159],"localization":[162],"error":[163],"5.2":[168],"\u00b1":[169],"3.3":[170],"mm,":[171],"is":[173],"remarkable":[174],"performance":[175],"only":[177],"30":[178],"A":[180],"frame":[181],"rate":[182],"up":[184],"120":[186],"Hz":[187],"could":[188],"be":[189,215],"achieved":[190],"area":[195],"90":[197],"cm":[198],"<sup":[199],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[200],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[201],".":[202],"proposed":[204],"simplifies":[206],"fabrication":[208],"3D-shaped":[210],"sensors,":[211],"allowing":[212],"them":[213],"easily":[216],"applied":[217],"existing":[219],"robot":[220],"arms":[221],"seamless":[224],"robust":[226],"manner.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}