{"id":"https://openalex.org/W4285102140","doi":"https://doi.org/10.1109/icra46639.2022.9812348","title":"SpecTac: A Visual-Tactile Dual-Modality Sensor Using UV Illumination","display_name":"SpecTac: A Visual-Tactile Dual-Modality Sensor Using UV Illumination","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102140","doi":"https://doi.org/10.1109/icra46639.2022.9812348"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812348","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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://repository.hkust.edu.hk/ir/bitstream/1783.1-118728/1/118728-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014969452","display_name":"Qi Wang","orcid":"https://orcid.org/0000-0002-0064-9032"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Wang","raw_affiliation_strings":["Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008010498","display_name":"Yipai Du","orcid":"https://orcid.org/0000-0001-6516-8478"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yipai Du","raw_affiliation_strings":["Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I4210096887","display_name":"HKUST Shenzhen Research Institute","ror":"https://ror.org/00sz56h79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I200769079","https://openalex.org/I20231570","https://openalex.org/I4210096887","https://openalex.org/I4210147811"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Futian,Shenzhen","HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Futian,Shenzhen","institution_ids":["https://openalex.org/I4210096887"]},{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen","institution_ids":["https://openalex.org/I4210096887"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9381,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98657143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10844","last_page":"10850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9977999925613403,"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":0.9958000183105469,"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/computer-vision","display_name":"Computer vision","score":0.7939032316207886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7492703199386597},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.685214102268219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6654918789863586},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.555541455745697},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4616848826408386},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4588395655155182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.442952036857605}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7939032316207886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7492703199386597},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.685214102268219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6654918789863586},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.555541455745697},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4616848826408386},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4588395655155182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.442952036857605}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9812348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812348","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-118728","is_oa":true,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-118728","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-118728/1/118728-1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-118728","is_oa":true,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-118728","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-118728/1/118728-1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285102140.pdf"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1578724580","https://openalex.org/W1965953026","https://openalex.org/W1983156320","https://openalex.org/W2041437888","https://openalex.org/W2056898157","https://openalex.org/W2111570103","https://openalex.org/W2151103935","https://openalex.org/W2607172324","https://openalex.org/W2745471877","https://openalex.org/W2765994785","https://openalex.org/W2775635818","https://openalex.org/W2783627282","https://openalex.org/W2804941773","https://openalex.org/W2810710802","https://openalex.org/W2886316146","https://openalex.org/W2917559944","https://openalex.org/W2962688712","https://openalex.org/W2963048676","https://openalex.org/W2963915174","https://openalex.org/W3001456435","https://openalex.org/W3003257820","https://openalex.org/W3008303301","https://openalex.org/W3028618997","https://openalex.org/W3038415847","https://openalex.org/W3089374988","https://openalex.org/W3091749147","https://openalex.org/W3097279248","https://openalex.org/W3098436915","https://openalex.org/W3100818121","https://openalex.org/W3104208381","https://openalex.org/W3112669067","https://openalex.org/W3130633756","https://openalex.org/W3131168342","https://openalex.org/W3138117074","https://openalex.org/W3186174046","https://openalex.org/W3205981435","https://openalex.org/W4293864931","https://openalex.org/W6634705048","https://openalex.org/W6641843117","https://openalex.org/W6745274615","https://openalex.org/W6749452181","https://openalex.org/W6768455653","https://openalex.org/W6769351376","https://openalex.org/W6776252931","https://openalex.org/W6786314177","https://openalex.org/W6786993690","https://openalex.org/W6789049409","https://openalex.org/W6792072550"],"related_works":["https://openalex.org/W2016398835","https://openalex.org/W3192344083","https://openalex.org/W1910101490","https://openalex.org/W4366330678","https://openalex.org/W2168146018","https://openalex.org/W4206748793","https://openalex.org/W3185696992","https://openalex.org/W2121558387","https://openalex.org/W2161103583","https://openalex.org/W3013755139"],"abstract_inverted_index":{"Perceiving":[0],"the":[1,11,57,76,96,106,109,122,139,144,149,154,160,197,200,210,217,220,227],"dynamical":[2],"environment":[3,97],"both":[4,191],"visually":[5,94],"and":[6,15,41,64,98,115,131,136,146,166,174,185,205],"tactilely":[7],"is":[8,17,108,202,207,229],"crucial":[9],"for":[10],"survival":[12],"of":[13,19,56,75,105,111,148,157,172,219],"animals,":[14],"therefore,":[16],"considered":[18],"importance":[20],"in":[21,31,72,216,224],"robotics":[22],"research.":[23],"Recently,":[24],"there":[25],"has":[26],"been":[27],"an":[28],"increasing":[29],"interest":[30],"vision-based":[32,49],"tactile":[33,50,100,167,173],"sensors":[34,51],"due":[35,152],"to":[36,43,153],"their":[37],"high":[38],"sensing":[39,168],"resolution":[40],"robustness":[42],"environmental":[44],"changes.":[45],"However,":[46],"almost":[47],"all":[48],"make":[52,99],"only":[53,60],"partial":[54],"use":[55,110],"camera,":[58],"specifically,":[59],"when":[61],"contact":[62],"occurs,":[63],"stay":[65],"idle":[66],"at":[67],"other":[68],"times,":[69],"which":[70,92],"results":[71],"a":[73,85],"waste":[74],"camera":[77,201],"information":[78,198],"bandwidth.":[79],"In":[80],"this":[81],"paper,":[82],"we":[83],"propose":[84],"new":[86],"visual-tactile":[87],"dual-modality":[88],"sensor":[89,107,161,211],"called":[90],"SpecTac,":[91],"can":[93,132],"inspect":[95],"observations.":[101],"The":[102,170],"main":[103],"novelty":[104],"ultraviolet":[112],"(UV)":[113],"LEDs":[114,123],"randomly":[116],"distributed":[117],"UV":[118,150],"fluorescent":[119],"markers.":[120],"When":[121],"are":[124,177],"on,":[125],"those":[126,158],"markers":[127],"will":[128,162,212],"be":[129,134],"bright":[130],"easily":[133],"distinguished":[135],"tracked":[137],"from":[138,199],"background.":[140],"Besides,":[141],"by":[142,180],"controlling":[143],"on":[145],"off":[147],"LEDs,":[151],"switchable":[155],"visibility":[156],"markers,":[159],"switch":[163],"between":[164],"visual":[165,175,183,186],"mode.":[169],"qualities":[171],"perception":[176],"evaluated":[178],"quantitatively":[179],"force":[181],"estimation,":[182],"triangulation":[184],"feature":[187],"matching.":[188],"By":[189],"combining":[190],"modalities":[192],"into":[193],"one":[194],"compact":[195],"sensor,":[196],"better":[203],"utilized,":[204],"it":[206],"hoped":[208],"that":[209],"achieve":[213],"more":[214],"flexibility":[215],"motion":[218],"robot":[221],"arm,":[222],"especially":[223],"tasks":[225],"where":[226],"workspace":[228],"narrow.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
