{"id":"https://openalex.org/W2122682172","doi":"https://doi.org/10.1109/iros.2011.6094701","title":"Soft curvature sensors for joint angle proprioception","display_name":"Soft curvature sensors for joint angle proprioception","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2122682172","doi":"https://doi.org/10.1109/iros.2011.6094701","mag":"2122682172"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094701","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5110705035","display_name":"Rebecca K. Kramer","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. K. Kramer","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Majidi","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057760999","display_name":"Ranjana Sahai","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Sahai","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109219334","display_name":"R. J. Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. J. Wood","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110705035"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":18.067,"has_fulltext":false,"cited_by_count":172,"citation_normalized_percentile":{"value":1.0,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1919","last_page":"1926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9965999722480774,"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":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.8023543357849121},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.6371287107467651},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.603341281414032},{"id":"https://openalex.org/keywords/polydimethylsiloxane","display_name":"Polydimethylsiloxane","score":0.599437952041626},{"id":"https://openalex.org/keywords/microchannel","display_name":"Microchannel","score":0.5882685780525208},{"id":"https://openalex.org/keywords/pressure-sensor","display_name":"Pressure sensor","score":0.5675548911094666},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5420021414756775},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.42686933279037476},{"id":"https://openalex.org/keywords/stretchable-electronics","display_name":"Stretchable electronics","score":0.4189158082008362},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3420219123363495},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3329468071460724},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24112939834594727},{"id":"https://openalex.org/keywords/electronics","display_name":"Electronics","score":0.21285179257392883},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.20447465777397156},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10307547450065613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08960926532745361},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07810637354850769}],"concepts":[{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.8023543357849121},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.6371287107467651},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.603341281414032},{"id":"https://openalex.org/C2779849746","wikidata":"https://www.wikidata.org/wiki/Q411955","display_name":"Polydimethylsiloxane","level":2,"score":0.599437952041626},{"id":"https://openalex.org/C63662833","wikidata":"https://www.wikidata.org/wiki/Q6839341","display_name":"Microchannel","level":2,"score":0.5882685780525208},{"id":"https://openalex.org/C41325743","wikidata":"https://www.wikidata.org/wiki/Q1261040","display_name":"Pressure sensor","level":2,"score":0.5675548911094666},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5420021414756775},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.42686933279037476},{"id":"https://openalex.org/C2781196758","wikidata":"https://www.wikidata.org/wiki/Q7623486","display_name":"Stretchable electronics","level":3,"score":0.4189158082008362},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3420219123363495},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3329468071460724},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24112939834594727},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.21285179257392883},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.20447465777397156},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10307547450065613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08960926532745361},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07810637354850769},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094701","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.370.1890","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.370.1890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://micro.seas.harvard.edu/papers/Kramer_IROS11.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1977068206","https://openalex.org/W1982839105","https://openalex.org/W1985589906","https://openalex.org/W2036333801","https://openalex.org/W2036590946","https://openalex.org/W2037329141","https://openalex.org/W2044924607","https://openalex.org/W2052155987","https://openalex.org/W2058605084","https://openalex.org/W2070443209","https://openalex.org/W2086700602","https://openalex.org/W2086710768","https://openalex.org/W2101048697","https://openalex.org/W2117427548","https://openalex.org/W2119669988","https://openalex.org/W2131867559","https://openalex.org/W2144232362","https://openalex.org/W2145999635","https://openalex.org/W2151386142","https://openalex.org/W2154104679","https://openalex.org/W2160463337","https://openalex.org/W4248233343","https://openalex.org/W6668305698","https://openalex.org/W6829559557"],"related_works":["https://openalex.org/W1476212558","https://openalex.org/W1968669369","https://openalex.org/W2537583411","https://openalex.org/W2971563800","https://openalex.org/W2906951109","https://openalex.org/W2014623443","https://openalex.org/W1995127070","https://openalex.org/W3174338858","https://openalex.org/W2566997854","https://openalex.org/W3127935656"],"abstract_inverted_index":{"We":[0,56],"introduce":[1],"a":[2,7,16,26,51,66,74],"curvature":[3],"sensor":[4,31,62,110,137],"composed":[5],"of":[6,18,43,46,60,83,134,142],"thin,":[8],"transparent":[9],"elastomer":[10,91,144],"film":[11,70],"(polydimethylsiloxane,":[12],"PDMS)":[13],"embedded":[14,36],"with":[15,76,130],"microchannel":[17,37,48],"conductive":[19],"liquid":[20],"(eutectic":[21],"Gallium":[22],"Indium,":[23],"eGaIn)":[24],"and":[25,92,119],"sensing":[27,40,78,97],"element.":[28,41],"Bending":[29],"the":[30,35,39,44,47,58,61,77,84,90,96,105,109,125,131,139],"exerts":[32,93],"pressure":[33,94],"on":[34,65,81,95],"via":[38],"Deformation":[42],"cross-section":[45],"leads":[49],"to":[50,100,124,146],"change":[52,103],"in":[53,104],"electrical":[54,106],"resistance.":[55,107],"demonstrate":[57],"functionality":[59],"through":[63],"testing":[64],"finger":[67,75],"joint.":[68],"The":[69],"is":[71,111],"wrapped":[72],"around":[73],"element":[79],"positioned":[80],"top":[82],"knuckle.":[85],"Finger":[86],"bending":[87,127],"both":[88],"stretches":[89],"element,":[98],"leading":[99],"an":[101],"enhanced":[102],"Because":[108],"soft":[112],"(elastic":[113],"modulus":[114],"E":[115],"~":[116],"1":[117],"MPa)":[118],"stretchable":[120],"(>350%),":[121],"it":[122],"conforms":[123],"host":[126],"without":[128],"interfering":[129],"natural":[132],"mechanics":[133],"motion.":[135,151],"This":[136],"represents":[138],"first":[140],"use":[141],"liquid-embedded":[143],"electronics":[145],"monitor":[147],"human":[148],"or":[149],"robotic":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":23},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
