{"id":"https://openalex.org/W2781959571","doi":"https://doi.org/10.1109/icsens.2017.8234153","title":"Development of a capacitive-type 6-axis force-torque sensor","display_name":"Development of a capacitive-type 6-axis force-torque sensor","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2781959571","doi":"https://doi.org/10.1109/icsens.2017.8234153","mag":"2781959571"},"language":"en","primary_location":{"id":"doi:10.1109/icsens.2017.8234153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsens.2017.8234153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE SENSORS","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/A5079680563","display_name":"Sophon Somlor","orcid":"https://orcid.org/0000-0003-2601-2934"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Somlor","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035429819","display_name":"Alexander Schmitz","orcid":"https://orcid.org/0000-0002-8962-771X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Schmitz","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041590612","display_name":"H. Jinsun","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Jinsun","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089110857","display_name":"Tito Pradhono Tomo","orcid":"https://orcid.org/0000-0003-1649-5709"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T.P. Tomo","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Sugano","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"8687","issue":null,"first_page":"1","last_page":"3"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9950000047683716,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.8215302228927612},{"id":"https://openalex.org/keywords/transducer","display_name":"Transducer","score":0.7618213295936584},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6068509221076965},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5914368033409119},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.5878821015357971},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5573468208312988},{"id":"https://openalex.org/keywords/electro-optical-sensor","display_name":"Electro-optical sensor","score":0.474275678396225},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.47410139441490173},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.43814629316329956},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.4211442172527313},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4087652862071991},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3817630112171173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36459946632385254},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.360636830329895},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3004099726676941},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2894994020462036},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25356507301330566},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1266273856163025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09659221768379211},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06981280446052551}],"concepts":[{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.8215302228927612},{"id":"https://openalex.org/C56318395","wikidata":"https://www.wikidata.org/wiki/Q215928","display_name":"Transducer","level":2,"score":0.7618213295936584},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6068509221076965},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5914368033409119},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.5878821015357971},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5573468208312988},{"id":"https://openalex.org/C3400440","wikidata":"https://www.wikidata.org/wiki/Q2027487","display_name":"Electro-optical sensor","level":2,"score":0.474275678396225},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.47410139441490173},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.43814629316329956},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.4211442172527313},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4087652862071991},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3817630112171173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36459946632385254},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.360636830329895},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3004099726676941},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2894994020462036},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25356507301330566},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1266273856163025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09659221768379211},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06981280446052551},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsens.2017.8234153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsens.2017.8234153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE SENSORS","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1970495039","https://openalex.org/W1972689071","https://openalex.org/W1975477143","https://openalex.org/W1999597131","https://openalex.org/W2006485140","https://openalex.org/W2021673896","https://openalex.org/W2033722089","https://openalex.org/W2101090813","https://openalex.org/W2103654576","https://openalex.org/W2107758079","https://openalex.org/W2133835651","https://openalex.org/W2288949877","https://openalex.org/W2569747804"],"related_works":["https://openalex.org/W4365794569","https://openalex.org/W2347456755","https://openalex.org/W2291633415","https://openalex.org/W3015749751","https://openalex.org/W4387713458","https://openalex.org/W2372430764","https://openalex.org/W4311325650","https://openalex.org/W2727522171","https://openalex.org/W4318066946","https://openalex.org/W4226072595"],"abstract_inverted_index":{"Force":[0],"sensing":[1],"is":[2,31],"a":[3,27,40,46],"crucial":[4],"task":[5],"for":[6],"robots,":[7],"especially":[8],"when":[9],"end":[10],"effectors":[11],"such":[12,25,96],"as":[13,97],"fingers":[14],"and":[15,87,103,116],"hands":[16],"need":[17],"to":[18,23,81,85],"interact":[19],"with":[20,45],"unknown":[21],"environments;":[22],"sense":[24],"forces,":[26],"force-torque":[28],"(F/T)":[29],"sensor":[30,44,66,74,113],"an":[32],"essential":[33],"component.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,56,109],"propose":[39],"small-sized":[41],"6-axis":[42,119],"F/T":[43],"novel":[47],"arrangement":[48],"of":[49,91],"12":[50],"transducers":[51],"using":[52],"the":[53,73,83,89,118],"force":[54],"transducer":[55],"have":[57],"previously":[58],"developed.":[59],"The":[60],"copper":[61],"beryllium":[62],"used":[63],"in":[64,69],"our":[65,112],"reduces":[67],"hysteresis":[68,104],"each":[70],"transducer.":[71],"Additionally,":[72],"provides":[75],"digital":[76],"output":[77],"via":[78],"I2C":[79],"bus":[80],"reduce":[82,88],"susceptibility":[84],"noise,":[86],"number":[90],"required":[92],"wires.":[93],"Sensor":[94],"characteristics":[95],"its":[98],"sensitivity,":[99],"signal-to-noise":[100],"ratio,":[101],"linearity,":[102],"are":[105],"determined.":[106],"More":[107],"importantly,":[108],"showed":[110],"that":[111],"can":[114],"detect":[115],"measure":[117],"F/T.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}