{"id":"https://openalex.org/W4401415116","doi":"https://doi.org/10.1109/icra57147.2024.10610187","title":"Embedded air channels transform soft lattices into sensorized grippers","display_name":"Embedded air channels transform soft lattices into sensorized grippers","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415116","doi":"https://doi.org/10.1109/icra57147.2024.10610187"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610187","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5040499495","display_name":"Annan Zhang","orcid":"https://orcid.org/0000-0001-6664-9417"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Annan Zhang","raw_affiliation_strings":["Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958726","display_name":"Lillian Chin","orcid":"https://orcid.org/0000-0003-4083-5275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lillian Chin","raw_affiliation_strings":["Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325580","display_name":"Daniel L. Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel L. Tong","raw_affiliation_strings":["Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,MIT Computer Science &#x0026; Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5264","last_page":"5270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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":0.9850999712944031,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9749000072479248,"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/grippers","display_name":"Grippers","score":0.9016906023025513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5480920076370239},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.352411150932312},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28273141384124756},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24745392799377441}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9016906023025513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5480920076370239},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.352411150932312},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28273141384124756},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24745392799377441}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610187","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1966308847","https://openalex.org/W2169364846","https://openalex.org/W2560704029","https://openalex.org/W2585344004","https://openalex.org/W2887254955","https://openalex.org/W2950069298","https://openalex.org/W2967272012","https://openalex.org/W2967301450","https://openalex.org/W3020867471","https://openalex.org/W3089672928","https://openalex.org/W3089728370","https://openalex.org/W3130633756","https://openalex.org/W3173438814","https://openalex.org/W3209058326","https://openalex.org/W4291019722","https://openalex.org/W4293057263","https://openalex.org/W4309258842","https://openalex.org/W4311413064","https://openalex.org/W6640177214"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2808090143","https://openalex.org/W2527333706","https://openalex.org/W2078285315","https://openalex.org/W2964156592"],"abstract_inverted_index":{"Sensing":[0],"plays":[1],"a":[2,51,77],"pivotal":[3],"role":[4],"in":[5],"robotic":[6,53],"manipulation,":[7],"dictating":[8],"the":[9,37,69,82,99,109],"accuracy":[10],"and":[11,26,43,95,126,128,138],"versatility":[12],"with":[13,105],"which":[14],"objects":[15],"are":[16,44,62,73],"handled.":[17],"Vision-based":[18],"sensing":[19,102],"methods":[20],"often":[21,39],"suffer":[22],"from":[23,76],"fabrication":[24,83],"complexity":[25],"low":[27],"durability,":[28],"while":[29,98],"approaches":[30],"that":[31,61],"rely":[32],"on":[33,36],"direct":[34],"measurements":[35,104],"gripper":[38,54,120],"have":[40],"limited":[41],"resolution":[42],"difficult":[45],"to":[46,108],"scale.":[47],"Here,":[48],"we":[49],"present":[50],"soft":[52],"made":[55],"out":[56],"of":[57,87],"two":[58],"cubic":[59],"lattices":[60,72],"sensorized":[63],"by":[64],"embedding":[65],"air":[66],"channels":[67],"within":[68],"structure.":[70],"The":[71,85],"3D":[74],"printed":[75],"single":[78],"build":[79],"material,":[80],"simplifying":[81],"process.":[84],"flexibility":[86],"this":[88,119],"approach":[89],"offers":[90],"significant":[91],"control":[92],"over":[93],"sensor":[94],"lattice":[96],"design,":[97],"pressure-based":[100],"internal":[101],"provides":[103],"minimal":[106],"disruption":[107],"grasping":[110],"surface.":[111],"With":[112],"only":[113],"12":[114],"sensors,":[115],"6":[116],"per":[117],"lattice,":[118],"can":[121],"estimate":[122],"an":[123],"object\u2019s":[124],"weight":[125],"location":[127],"offer":[129],"new":[130],"insights":[131],"into":[132],"grasp":[133,139],"parameters":[134],"like":[135],"friction":[136],"coefficients":[137],"force.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
