{"id":"https://openalex.org/W3166055236","doi":"https://doi.org/10.1109/icra48506.2021.9561816","title":"Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems","display_name":"Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3166055236","doi":"https://doi.org/10.1109/icra48506.2021.9561816","mag":"3166055236"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2106.07838","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051176473","display_name":"Andrew R. Barkan","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew R. Barkan","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027347432","display_name":"Akhil Padmanabha","orcid":"https://orcid.org/0000-0001-8603-8146"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Akhil Padmanabha","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056430842","display_name":"Sala R. Tiemann","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sala R. Tiemann","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100701961","display_name":"Albert Lee","orcid":"https://orcid.org/0000-0001-5156-0567"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert Lee","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061863562","display_name":"Matthew P. Kanter","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew P. Kanter","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027274965","display_name":"Yash Agarwal","orcid":"https://orcid.org/0000-0002-2143-2924"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash S. Agarwal","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108365897","display_name":"Alice M. Agogino","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alice M. Agogino","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley,Department of Mechanical Engineering,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5051176473"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05072671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"3292","last_page":"3298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9929999709129333,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9929999709129333,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/tensegrity","display_name":"Tensegrity","score":0.7819987535476685},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7567734718322754},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6535524129867554},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6161367893218994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6004812121391296},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5889946222305298},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4897429943084717},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4781447649002075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3707812428474426},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36162054538726807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28847944736480713}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.7819987535476685},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7567734718322754},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6535524129867554},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6161367893218994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6004812121391296},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5889946222305298},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4897429943084717},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4781447649002075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3707812428474426},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36162054538726807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28847944736480713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2106.07838","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.07838","pdf_url":"https://arxiv.org/pdf/2106.07838","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3166055236","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2106.07838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2106.07838","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2106.07838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2106.07838","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.07838","pdf_url":"https://arxiv.org/pdf/2106.07838","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3166055236.pdf","grobid_xml":"https://content.openalex.org/works/W3166055236.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W273955616","https://openalex.org/W1590980019","https://openalex.org/W1826399803","https://openalex.org/W1976587447","https://openalex.org/W1988919123","https://openalex.org/W2001124350","https://openalex.org/W2001381166","https://openalex.org/W2050835671","https://openalex.org/W2060712068","https://openalex.org/W2073142361","https://openalex.org/W2086493383","https://openalex.org/W2089279464","https://openalex.org/W2090465025","https://openalex.org/W2148143831","https://openalex.org/W2217681286","https://openalex.org/W2280090643","https://openalex.org/W2293200354","https://openalex.org/W2618733545","https://openalex.org/W2784881541","https://openalex.org/W2792089292","https://openalex.org/W2892035503","https://openalex.org/W3014213195","https://openalex.org/W3089015621"],"related_works":["https://openalex.org/W1993325235","https://openalex.org/W2601294271","https://openalex.org/W2141938092","https://openalex.org/W3118824726","https://openalex.org/W2020522033","https://openalex.org/W1978965681","https://openalex.org/W2276023166","https://openalex.org/W2529420862","https://openalex.org/W2334160811","https://openalex.org/W2528456196","https://openalex.org/W2402375243","https://openalex.org/W2604989479","https://openalex.org/W2963146389","https://openalex.org/W1579751894","https://openalex.org/W2883344340","https://openalex.org/W2603760403","https://openalex.org/W3203621554","https://openalex.org/W2132397500","https://openalex.org/W2267501635","https://openalex.org/W1416746499"],"abstract_inverted_index":{"Advancements":[0],"in":[1,51,129,149,172],"the":[2,12,94,112,153],"domain":[3],"of":[4,14,56,65,87,99,114,122,140,155,160],"physical":[5,37,72,123,158],"human-robot":[6,57,174],"interaction":[7,124],"(pHRI)":[8],"have":[9],"tremendously":[10],"improved":[11],"ability":[13,113],"humans":[15],"and":[16,21,42,96,136,146,166],"robots":[17,61],"to":[18,71,118,151,162],"communicate,":[19],"collaborate,":[20],"coexist.":[22],"In":[23,89],"particular,":[24],"compliant":[25,47,66],"robotic":[26],"systems":[27,48,67],"offer":[28],"many":[29],"characteristics":[30],"that":[31,39,68,80,126],"can":[32],"be":[33],"leveraged":[34],"towards":[35],"enabling":[36],"interactions":[38,73,148],"more":[40,52],"efficiently":[41],"intuitively":[43],"communicate":[44,164],"intent,":[45],"making":[46],"potentially":[49],"useful":[50,77],"physically":[53],"demanding":[54],"subsets":[55],"collaborative":[58,175],"scenarios.":[59],"Tensegrity":[60],"are":[62,69],"an":[63],"example":[64],"well-suited":[70],"while":[74],"still":[75],"retaining":[76],"rigid":[78],"properties":[79],"make":[81],"them":[82],"practical":[83],"for":[84],"a":[85,100,120,130,138,169,173],"variety":[86,121],"applications.":[88],"this":[90,108,157],"paper,":[91],"we":[92,110],"present":[93],"design":[95],"preliminary":[97],"testing":[98],"6-bar":[101],"spherical":[102],"tensegrity":[103],"with":[104],"force-sensing":[105],"capabilities.":[106],"Using":[107],"prototype,":[109],"demonstrate":[111,152],"its":[115],"force-sensor":[116],"array":[117],"detect":[119],"types":[125],"might":[127],"arise":[128],"human":[131,170],"context.":[132],"We":[133],"then":[134],"train":[135],"test":[137],"series":[139],"classifiers":[141],"using":[142,156],"data":[143],"from":[144,168],"unique":[145],"representative":[147],"order":[150],"feasibility":[154],"modality":[159],"sensing":[161],"reliably":[163],"goals":[165],"intents":[167],"operator":[171],"setting.":[176]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
