{"id":"https://openalex.org/W4401416913","doi":"https://doi.org/10.1109/icra57147.2024.10610508","title":"TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction","display_name":"TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416913","doi":"https://doi.org/10.1109/icra57147.2024.10610508"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610508","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":"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/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100914799","display_name":"Jialong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialong Yang","raw_affiliation_strings":["South China University of Technology,School of Future Technology,Guangzhou,China,511442"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,School of Future Technology,Guangzhou,China,511442","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327732","display_name":"Haoran Li","orcid":"https://orcid.org/0000-0002-5994-0203"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["University of Bristol,Bristol Robotics Laboratory,Bristol,U.K,BS8 1TW"],"affiliations":[{"raw_affiliation_string":"University of Bristol,Bristol Robotics Laboratory,Bristol,U.K,BS8 1TW","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049696534","display_name":"Yifan Li","orcid":"https://orcid.org/0000-0003-2499-6861"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yifan Li","raw_affiliation_strings":["University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002861905","display_name":"Weiyong Si","orcid":"https://orcid.org/0000-0003-4531-2596"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Weiyong Si","raw_affiliation_strings":["University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan Lepora","raw_affiliation_strings":["University of Bristol,Bristol Robotics Laboratory,Bristol,U.K,BS8 1TW"],"affiliations":[{"raw_affiliation_string":"University of Bristol,Bristol Robotics Laboratory,Bristol,U.K,BS8 1TW","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5057911864"],"corresponding_institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":1.0902,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75964847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"17153","last_page":"17159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9902999997138977,"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":0.9902999997138977,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11595","display_name":"Textile materials and evaluations","score":0.9635000228881836,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grayscale","display_name":"Grayscale","score":0.818202018737793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6466312408447266},{"id":"https://openalex.org/keywords/shadow","display_name":"Shadow (psychology)","score":0.644040584564209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5606095194816589},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.5525057315826416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49228420853614807},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4138599634170532},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.384246289730072},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.20338469743728638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12807556986808777},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.10767346620559692},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.06681889295578003}],"concepts":[{"id":"https://openalex.org/C78201319","wikidata":"https://www.wikidata.org/wiki/Q685727","display_name":"Grayscale","level":3,"score":0.818202018737793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6466312408447266},{"id":"https://openalex.org/C117797892","wikidata":"https://www.wikidata.org/wiki/Q286363","display_name":"Shadow (psychology)","level":2,"score":0.644040584564209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5606095194816589},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.5525057315826416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49228420853614807},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4138599634170532},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.384246289730072},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.20338469743728638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12807556986808777},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.10767346620559692},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06681889295578003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610508","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"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/48db01d4-8cba-4af6-8ca5-d3517d05014b","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/48db01d4-8cba-4af6-8ca5-d3517d05014b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lu, Z, Yang, J, Li, H, Li, Y, Si, W, Lepora, N & Yang, C 2024, TacShade : A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. in 2024 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), pp. 17153-17159. https://doi.org/10.1109/ICRA57147.2024.10610508","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320668","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1965902026","https://openalex.org/W1974195097","https://openalex.org/W2005089986","https://openalex.org/W2050692652","https://openalex.org/W2150480454","https://openalex.org/W2560722161","https://openalex.org/W2585610283","https://openalex.org/W2745027101","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2837391606","https://openalex.org/W2903932337","https://openalex.org/W2962688712","https://openalex.org/W3015462157","https://openalex.org/W3129699689","https://openalex.org/W3130589561","https://openalex.org/W3178189456","https://openalex.org/W3186174046","https://openalex.org/W3198507954","https://openalex.org/W3204658379","https://openalex.org/W4213297255","https://openalex.org/W4220964735","https://openalex.org/W4226409245","https://openalex.org/W4285232917","https://openalex.org/W4327522806","https://openalex.org/W4376605654","https://openalex.org/W4383108271","https://openalex.org/W4384518901"],"related_works":["https://openalex.org/W115686965","https://openalex.org/W2768918307","https://openalex.org/W2110031805","https://openalex.org/W2040020606","https://openalex.org/W4362659915","https://openalex.org/W2113071088","https://openalex.org/W2116526828","https://openalex.org/W2321543601","https://openalex.org/W2893218741","https://openalex.org/W1990016983"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,143],"present":[4],"the":[5,23,30,42,51,54,73,77,82,98,101,108,117,126,140,145,162,176,179,192,207],"TacShade:":[6],"a":[7,45,56,135,156,199],"newly":[8],"designed":[9],"3D-printed":[10],"soft":[11],"optical":[12],"tactile":[13,58,153],"sensor.":[14],"The":[15,105,169,188],"sensor":[16,59,99],"is":[17],"developed":[18],"for":[19,161,185,198],"shape":[20,177,193],"reconstruction":[21,160,194],"under":[22,100],"inspiration":[24],"of":[25,32,44,53,60,84,107,128,178,196,209],"sketch":[26,33],"drawing":[27],"that":[28,76],"uses":[29],"density":[31],"lines":[34],"to":[35,67,151,174],"draw":[36],"light":[37],"and":[38,64,69,91,131,211],"shadow,":[39],"resulting":[40],"in":[41,75,88],"creation":[43],"3D-view":[46],"effect.":[47],"TacShade,":[48],"building":[49],"upon":[50],"strengths":[52],"TacTip,":[55],"single-camera":[57],"large":[61,200],"in-depth":[62],"deformation":[63],"being":[65],"sensitive":[66],"edge":[68],"surface":[70],"following,":[71],"improves":[72],"structure":[74],"markers":[78],"are":[79,111,167],"distributed":[80],"within":[81],"gap":[83],"papillae":[85],"pins.":[86],"Variations":[87],"light,":[89],"dark":[90],"grey":[92],"effects":[93],"can":[94,121],"be":[95,122],"generated":[96],"inside":[97],"external":[102],"contact":[103,118,163,180],"interactions.":[104],"contours":[106],"contacting":[109],"objects":[110,181],"outlined":[112],"by":[113],"white":[114,132],"markers,":[115,133],"while":[116],"depth":[119],"characteristics":[120],"indirectly":[123],"obtained":[124],"from":[125,147],"distribution":[127],"black":[129],"pins":[130],"creating":[134],"2.5D":[136],"visualization.":[137],"Based":[138],"on":[139,206],"imaging":[141],"effect,":[142],"improve":[144],"Shape":[146],"Shading":[148],"(SFS)":[149],"algorithm":[150],"process":[152],"images,":[154],"enabling":[155],"coarse":[157],"but":[158],"fast":[159],"objects.":[164],"Two":[165],"experiments":[166],"performed.":[168],"first":[170],"verifies":[171],"TacShade\u2019s":[172],"ability":[173],"reconstruct":[175],"through":[182],"one":[183],"image":[184,212],"object":[186],"distinction.":[187],"second":[189],"experiment":[190],"shows":[191],"capability":[195],"TacShade":[197],"panel":[201],"with":[202],"ridged":[203],"patterns":[204],"based":[205],"location":[208],"robots":[210],"splicing":[213],"technology.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}