{"id":"https://openalex.org/W4401417373","doi":"https://doi.org/10.1109/icra57147.2024.10610518","title":"Liquids Identification and Manipulation via Digitally Fabricated Impedance Sensors","display_name":"Liquids Identification and Manipulation via Digitally Fabricated Impedance Sensors","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417373","doi":"https://doi.org/10.1109/icra57147.2024.10610518"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610518","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/A5038133145","display_name":"Junyi Zhu","orcid":"https://orcid.org/0000-0001-6166-6138"},"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":"Junyi Zhu","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043507847","display_name":"Young Joong Lee","orcid":"https://orcid.org/0000-0002-2096-2261"},"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":"Young Joong Lee","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007246518","display_name":"Yiyue Luo","orcid":"https://orcid.org/0009-0008-5127-0496"},"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":"Yiyue Luo","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072256421","display_name":"Tianyu Xu","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":"Tianyu Xu","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118900085","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0650-0674"},"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":"Chao Liu","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","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,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064644612","display_name":"Stefanie Mueller","orcid":"https://orcid.org/0000-0001-7743-7807"},"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":"Stefanie Mueller","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"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":"Wojciech Matusik","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,USA","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":"18164","last_page":"18171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9970999956130981,"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9970999956130981,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9861000180244446,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9858999848365784,"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/electrical-impedance","display_name":"Electrical impedance","score":0.6862281560897827},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5882184505462646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4708031415939331},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.47074776887893677},{"id":"https://openalex.org/keywords/focused-impedance-measurement","display_name":"Focused Impedance Measurement","score":0.4698787033557892},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.4107692241668701},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.3551790714263916},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.28938013315200806},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2293403148651123}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6862281560897827},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5882184505462646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4708031415939331},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.47074776887893677},{"id":"https://openalex.org/C172066009","wikidata":"https://www.wikidata.org/wiki/Q5463955","display_name":"Focused Impedance Measurement","level":3,"score":0.4698787033557892},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.4107692241668701},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.3551790714263916},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.28938013315200806},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2293403148651123},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610518","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2037486375","https://openalex.org/W2063932736","https://openalex.org/W2071088887","https://openalex.org/W2073060332","https://openalex.org/W2081857580","https://openalex.org/W2088182082","https://openalex.org/W2111830885","https://openalex.org/W2118278397","https://openalex.org/W2146832880","https://openalex.org/W2149606722","https://openalex.org/W2568736373","https://openalex.org/W2898323503","https://openalex.org/W2910499561","https://openalex.org/W2962745199","https://openalex.org/W2962793652","https://openalex.org/W2964237810","https://openalex.org/W2966615203","https://openalex.org/W2998993592","https://openalex.org/W3001418026","https://openalex.org/W3003375370","https://openalex.org/W3132836720","https://openalex.org/W3134716814","https://openalex.org/W3138965819","https://openalex.org/W3164862896","https://openalex.org/W3199826973","https://openalex.org/W4224214309","https://openalex.org/W4224981839","https://openalex.org/W4280585654","https://openalex.org/W4285102150","https://openalex.org/W4307475983","https://openalex.org/W4312343222","https://openalex.org/W4323556769","https://openalex.org/W4383108573","https://openalex.org/W6678046524","https://openalex.org/W6851992287"],"related_works":["https://openalex.org/W2545105407","https://openalex.org/W1530957495","https://openalex.org/W2562155397","https://openalex.org/W2752941547","https://openalex.org/W1990323938","https://openalex.org/W2072189119","https://openalex.org/W2740538285","https://openalex.org/W2518027987","https://openalex.org/W1974813547","https://openalex.org/W1982482510"],"abstract_inverted_index":{"Despite":[0],"recent":[1],"exponential":[2],"advancements":[3],"in":[4,56,65,68,146,159,190],"computer":[5],"vision":[6],"and":[7,36,59,70,91,100,131,157],"reinforcement":[8],"learning,":[9],"it":[10],"remains":[11],"challenging":[12],"for":[13,52,87,186],"robots":[14],"to":[15,25,54,107],"interact":[16],"with":[17,113,125,171],"liquids.":[18],"These":[19,177],"challenges":[20],"are":[21],"particularly":[22],"pronounced":[23],"due":[24],"the":[26,41,161,166],"limitations":[27],"imposed":[28],"by":[29],"opaque":[30],"containers,":[31],"transparent":[32],"liquids,":[33],"fine-grained":[34],"splashes,":[35],"visual":[37],"obstructions":[38],"arising":[39],"from":[40],"robot\u2019s":[42],"own":[43],"manipulation":[44,124,189],"activities.":[45],"Yet,":[46],"there":[47],"exists":[48],"a":[49,84,102,108,114,126,132,172,183],"substantial":[50],"opportunity":[51],"robotics":[53],"excel":[55],"liquid":[57,88,123,162],"identification":[58,90],"manipulation,":[60],"given":[61],"its":[62],"potential":[63],"role":[64],"chemical":[66],"handling":[67],"laboratories":[69],"various":[71],"manufacturing":[72],"sectors":[73],"such":[74],"as":[75,182],"pharmaceuticals":[76],"or":[77],"beverages.":[78],"In":[79],"this":[80],"work,":[81],"we":[82,119],"present":[83],"novel":[85],"approach":[86],"class":[89],"state":[92],"estimation":[93],"leveraging":[94],"electrical":[95],"impedance":[96,116,134],"sensing.":[97],"We":[98,164],"design":[99],"mount":[101],"digitally":[103],"embroidered":[104],"electrode":[105],"array":[106],"commercial":[109],"robot":[110],"gripper.":[111],"Coupled":[112],"customized":[115],"sensing":[117,129],"board,":[118],"collect":[120],"data":[121],"on":[122],"swept":[127],"frequency":[128],"mode":[130],"frequency-specific":[133],"measuring":[135],"mode.":[136],"Our":[137],"developed":[138],"learning-based":[139],"model":[140],"achieves":[141],"an":[142],"accuracy":[143],"of":[144,151,168,174],"93.33%":[145],"classifying":[147],"9":[148],"different":[149],"types":[150],"liquids":[152,154],"(8":[153],"+":[155],"air),":[156],"97.65%":[158],"estimating":[160],"state.":[163],"investigate":[165],"effectiveness":[167],"our":[169,180],"system":[170],"series":[173],"ablation":[175],"studies.":[176],"findings":[178],"highlight":[179],"work":[181],"promising":[184],"solution":[185],"enhancing":[187],"robotic":[188],"liquid-related":[191],"tasks.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}