{"id":"https://openalex.org/W4413918049","doi":"https://doi.org/10.1109/icra55743.2025.11127886","title":"Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing Using Gated Networks","display_name":"Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing Using Gated Networks","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918049","doi":"https://doi.org/10.1109/icra55743.2025.11127886"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5109260296","display_name":"Yusuke Tanaka","orcid":"https://orcid.org/0000-0002-3987-1589"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I2799798094","display_name":"UCLA Health","ror":"https://ror.org/01d88se56","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799798094"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yusuke Tanaka","raw_affiliation_strings":["UCLA,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA"],"affiliations":[{"raw_affiliation_string":"UCLA,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I2799798094","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082722944","display_name":"Aibin Zhu","orcid":"https://orcid.org/0000-0002-6346-4932"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I2799798094","display_name":"UCLA Health","ror":"https://ror.org/01d88se56","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799798094"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Alvin Zhu","raw_affiliation_strings":["UCLA,Department of Computer Science,Los Angeles,CA,USA"],"affiliations":[{"raw_affiliation_string":"UCLA,Department of Computer Science,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I2799798094","https://openalex.org/I161318765","https://openalex.org/I4210156583"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023480510","display_name":"Richard J. Lin","orcid":"https://orcid.org/0000-0002-0834-7880"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I2799798094","display_name":"UCLA Health","ror":"https://ror.org/01d88se56","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799798094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Lin","raw_affiliation_strings":["UCLA,Electrical and Computer Engineering Department,Los Angeles,CA,USA"],"affiliations":[{"raw_affiliation_string":"UCLA,Electrical and Computer Engineering Department,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I2799798094","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112712086","display_name":"Ankur Mehta","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I2799798094","display_name":"UCLA Health","ror":"https://ror.org/01d88se56","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799798094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Mehta","raw_affiliation_strings":["UCLA,Electrical and Computer Engineering Department,Los Angeles,CA,USA"],"affiliations":[{"raw_affiliation_string":"UCLA,Electrical and Computer Engineering Department,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I2799798094","https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I2799798094","display_name":"UCLA Health","ror":"https://ror.org/01d88se56","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799798094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["UCLA,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA"],"affiliations":[{"raw_affiliation_string":"UCLA,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I2799798094","https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109260296"],"corresponding_institution_ids":["https://openalex.org/I161318765","https://openalex.org/I2799798094"],"apc_list":null,"apc_paid":null,"fwci":0.6645,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74357792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"16485","last_page":"16492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.932200014591217,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.932200014591217,"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/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.9316999912261963,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6311901211738586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5879322290420532},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.4376624822616577},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.14174625277519226},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.06990492343902588}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6311901211738586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5879322290420532},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.4376624822616577},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.14174625277519226},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.06990492343902588},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":36,"referenced_works":["https://openalex.org/W1979445726","https://openalex.org/W2007924815","https://openalex.org/W2054518031","https://openalex.org/W2090536661","https://openalex.org/W2212932033","https://openalex.org/W2569327030","https://openalex.org/W2765978866","https://openalex.org/W2789286234","https://openalex.org/W2908865136","https://openalex.org/W2918647112","https://openalex.org/W2967244466","https://openalex.org/W3003906306","https://openalex.org/W3007174652","https://openalex.org/W3015628679","https://openalex.org/W3030252707","https://openalex.org/W3033253270","https://openalex.org/W3089713898","https://openalex.org/W3093981735","https://openalex.org/W3109670105","https://openalex.org/W3204371531","https://openalex.org/W3205196998","https://openalex.org/W3206322842","https://openalex.org/W3206987832","https://openalex.org/W4220709939","https://openalex.org/W4250058668","https://openalex.org/W4283822920","https://openalex.org/W4287660544","https://openalex.org/W4312271328","https://openalex.org/W4313260629","https://openalex.org/W4389987563","https://openalex.org/W4390480985","https://openalex.org/W4394874053","https://openalex.org/W4401205907","https://openalex.org/W4401273144","https://openalex.org/W4401416642","https://openalex.org/W4413917345"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1530034981","https://openalex.org/W4320492283","https://openalex.org/W4214695225","https://openalex.org/W2783284266","https://openalex.org/W3197607994","https://openalex.org/W4309090929","https://openalex.org/W3020059968"],"abstract_inverted_index":{"In":[0],"limbed":[1],"robotics,":[2],"end-effectors":[3],"must":[4],"serve":[5],"dual":[6],"functions,":[7],"such":[8],"as":[9,100],"both":[10,54],"feet":[11],"for":[12,16,66,72,77],"locomotion":[13],"and":[14,33,56,74,80,83,103,113],"grippers":[15],"grasping,":[17],"which":[18],"presents":[19],"design":[20,64],"challenges.":[21],"This":[22],"paper":[23],"introduces":[24],"a":[25,62,101],"multi-modal":[26],"end-effector":[27],"capable":[28],"of":[29,91,107],"transitioning":[30],"between":[31],"flat":[32],"line":[34],"foot":[35,102],"configurations":[36],"while":[37],"providing":[38],"grasping":[39],"capabilities.":[40],"MAGPIE":[41,92],"integrates":[42],"eight-axis":[43],"force":[44,58,81],"sensing":[45,68,109],"using":[46],"proposed":[47],"mechanisms":[48],"with":[49],"Hall":[50],"effect":[51],"sensors,":[52],"enabling":[53],"contact":[55],"tactile":[57],"measurements.":[59],"We":[60],"present":[61],"computational":[63],"framework":[65],"our":[67],"mechanism":[69],"that":[70],"accounts":[71],"noise":[73],"interference,":[75],"allowing":[76],"desired":[78],"sensitivity":[79],"ranges":[82],"generating":[84],"ideal":[85,111],"inverse":[86],"models.":[87,116],"The":[88],"hardware":[89],"implementation":[90],"is":[93],"validated":[94],"through":[95],"experiments,":[96],"demonstrating":[97],"its":[98],"capability":[99],"verifying":[104],"the":[105,108],"performance":[106],"mechanisms,":[110],"models,":[112],"gated":[114],"network-based":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
