{"id":"https://openalex.org/W4413917095","doi":"https://doi.org/10.1109/icra55743.2025.11128051","title":"A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping","display_name":"A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917095","doi":"https://doi.org/10.1109/icra55743.2025.11128051"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128051","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.00133","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035876826","display_name":"Ziyue Hu","orcid":"https://orcid.org/0000-0003-1368-730X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhixian Hu","raw_affiliation_strings":["School of Industrial Engineering, Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072528523","display_name":"Juan Wachs","orcid":"https://orcid.org/0000-0002-6425-5745"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Wachs","raw_affiliation_strings":["School of Industrial Engineering, Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018653973","display_name":"Yu She","orcid":"https://orcid.org/0000-0001-5914-3573"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu She","raw_affiliation_strings":["School of Industrial Engineering, Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":3.3237,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9013546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9757000207901001,"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":0.9757000207901001,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9746999740600586,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9646999835968018,"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/whisker","display_name":"Whisker","score":0.8027999401092529},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6155589818954468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260791182518005},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.49414947628974915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4732549488544464},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2980588376522064},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.13485202193260193},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.08807197213172913}],"concepts":[{"id":"https://openalex.org/C179111330","wikidata":"https://www.wikidata.org/wiki/Q901525","display_name":"Whisker","level":2,"score":0.8027999401092529},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6155589818954468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260791182518005},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.49414947628974915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4732549488544464},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2980588376522064},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.13485202193260193},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.08807197213172913},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128051","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"},{"id":"pmh:oai:arXiv.org:2503.00133","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.00133","pdf_url":"https://arxiv.org/pdf/2503.00133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.00133","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.00133","pdf_url":"https://arxiv.org/pdf/2503.00133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"id":"https://openalex.org/G5102135565","display_name":"NRI: INT: FIngers See Things Differently (FIST-D): A Robotic Explosive Ordnance Disposal (EOD) based on Augmented Tactile Imaging","funder_award_id":"1925194","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413917095.pdf","grobid_xml":"https://content.openalex.org/works/W4413917095.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2065429801","https://openalex.org/W2077270141","https://openalex.org/W2079813462","https://openalex.org/W2419118448","https://openalex.org/W2782077312","https://openalex.org/W2807275354","https://openalex.org/W2912920267","https://openalex.org/W2963309529","https://openalex.org/W2984606680","https://openalex.org/W3134950690","https://openalex.org/W3197437553","https://openalex.org/W4285245521","https://openalex.org/W4285506674","https://openalex.org/W4288046234","https://openalex.org/W4294898127","https://openalex.org/W4312719090","https://openalex.org/W4388205018","https://openalex.org/W4389666185","https://openalex.org/W4400770620","https://openalex.org/W4401414259","https://openalex.org/W4401415137"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Tactile":[0],"sensing":[1,126],"and":[2,38,42,62,76,104,127],"the":[3,66,69,94,97,108,120],"manipulation":[4],"of":[5,86,101,112],"delicate":[6],"objects":[7,72,81],"are":[8],"critical":[9],"challenges":[10],"in":[11],"robotics.":[12],"This":[13],"study":[14],"presents":[15],"a":[16,83,89],"vision-based":[17],"magnetic-actuated":[18],"whisker":[19,48],"array":[20],"sensor":[21,27,70,98],"that":[22],"integrates":[23],"these":[24],"functions.":[25],"The":[26,54],"features":[28],"eight":[29,115],"whiskers":[30],"arranged":[31],"circularly,":[32],"supported":[33],"by":[34,40],"an":[35],"elastomer":[36],"membrane":[37],"actuated":[39],"electromagnets":[41],"permanent":[43],"magnets.":[44],"A":[45],"camera":[46],"tracks":[47],"movements,":[49],"enabling":[50],"high-resolution":[51],"tactile":[52,125],"feedback.":[53],"sensor's":[55,121],"performance":[56],"was":[57],"evaluated":[58],"through":[59],"object":[60],"classification":[61,67,84],"grasping":[63,95],"experiments.":[64],"In":[65,93],"experiment,":[68,96],"approached":[71],"from":[73],"four":[74],"directions":[75],"accurately":[77],"identified":[78],"five":[79],"distinct":[80],"with":[82,114],"accuracy":[85],"99.17%":[87],"using":[88],"Multi-Layer":[90],"Perceptron":[91],"model.":[92],"tested":[99],"configurations":[100],"eight,":[102],"four,":[103],"two":[105],"whiskers,":[106],"achieving":[107],"highest":[109],"success":[110],"rate":[111],"87%":[113],"whiskers.":[116],"These":[117],"results":[118],"highlight":[119],"potential":[122],"for":[123],"precise":[124],"reliable":[128],"manipulation.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-08T07:41:36.138363","created_date":"2025-10-10T00:00:00"}