{"id":"https://openalex.org/W2122482519","doi":"https://doi.org/10.1109/iros.2012.6386224","title":"Soft tactile sensor arrays for micromanipulation","display_name":"Soft tactile sensor arrays for micromanipulation","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2122482519","doi":"https://doi.org/10.1109/iros.2012.6386224","mag":"2122482519"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5044726844","display_name":"Frank L. Hammond","orcid":"https://orcid.org/0000-0002-1634-7573"},"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":"Frank L. Hammond","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","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":false,"raw_author_name":"Rebecca K. Kramer","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045578484","display_name":"Qian Wan","orcid":"https://orcid.org/0000-0001-9243-8939"},"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":"Qian Wan","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X"},"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":"Robert D. Howe","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"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":"Robert J. Wood","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, 60 Oxford Street, Cambridge, MA 02138 USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"25","last_page":"32"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9994000196456909,"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":0.9994000196456909,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9980999827384949,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular 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/haptic-technology","display_name":"Haptic technology","score":0.7463239431381226},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7200332880020142},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.6097975969314575},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6013439297676086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5408203601837158},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.4827955961227417},{"id":"https://openalex.org/keywords/millimeter","display_name":"Millimeter","score":0.42192184925079346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41792625188827515},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3781468868255615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3632601201534271},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.2690526247024536},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25765344500541687},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.18329334259033203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0938885509967804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08759361505508423}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7463239431381226},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7200332880020142},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.6097975969314575},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6013439297676086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5408203601837158},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.4827955961227417},{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.42192184925079346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41792625188827515},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3781468868255615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3632601201534271},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.2690526247024536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25765344500541687},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18329334259033203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0938885509967804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08759361505508423},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/iros.2012.6386224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306081","display_name":"Ford Foundation","ror":"https://ror.org/02fvtx219"},{"id":"https://openalex.org/F4320333979","display_name":"Hansj\u00f6rg Wyss Institute for Biologically Inspired Engineering, Harvard University","ror":"https://ror.org/008cfmj78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W76008554","https://openalex.org/W124560532","https://openalex.org/W1530799946","https://openalex.org/W1565340294","https://openalex.org/W2026026824","https://openalex.org/W2032048605","https://openalex.org/W2044822017","https://openalex.org/W2045938621","https://openalex.org/W2059708468","https://openalex.org/W2077544344","https://openalex.org/W2084022418","https://openalex.org/W2095971486","https://openalex.org/W2097152275","https://openalex.org/W2101383149","https://openalex.org/W2105161487","https://openalex.org/W2108817574","https://openalex.org/W2112274618","https://openalex.org/W2113858239","https://openalex.org/W2126671448","https://openalex.org/W2129575225","https://openalex.org/W2141176260","https://openalex.org/W2151386142","https://openalex.org/W2154104679","https://openalex.org/W2158496473","https://openalex.org/W2159421530","https://openalex.org/W2163166270","https://openalex.org/W2167740281","https://openalex.org/W2366378365","https://openalex.org/W6605120561","https://openalex.org/W6676917501","https://openalex.org/W6708091593"],"related_works":["https://openalex.org/W3128324021","https://openalex.org/W1960616769","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2709287450","https://openalex.org/W3163427917","https://openalex.org/W2121836998","https://openalex.org/W2040114039","https://openalex.org/W2027665490","https://openalex.org/W2106712047"],"abstract_inverted_index":{"Micromanipulation":[0],"methods":[1],"used":[2],"for":[3,68,88,117],"complicated":[4],"tasks":[5],"such":[6,50],"as":[7,51],"microrobot":[8],"assembly":[9],"and":[10,18,57,66,79,92,100,133],"microvascular":[11],"surgery":[12],"often":[13],"lack":[14],"the":[15,76,108,124,138],"force":[16,48,64,94],"reflection":[17],"contact":[19,90,93,134],"localization":[20,91,135],"capability":[21],"necessary":[22],"to":[23,113],"achieve":[24],"robust":[25],"grasps":[26],"of":[27,36,47,82,102,123,129,140,142],"micro-scale":[28],"objects":[29],"without":[30],"applying":[31],"excessive":[32],"forces.":[33],"This":[34,73],"absence":[35],"haptic":[37],"feedback":[38],"is":[39,55],"especially":[40],"prohibitive":[41],"in":[42],"cases":[43],"where":[44,58],"visual":[45],"evidence":[46],"application,":[49],"object":[52,71],"surface":[53],"deformation,":[54],"imperceptible":[56],"unstructured,":[59],"dynamically":[60],"changing":[61],"environments":[62],"require":[63],"sensing":[65],"modulation":[67],"safe,":[69],"atraumatic":[70],"manipulation.":[72],"paper":[74],"describes":[75],"design,":[77],"fabrication,":[78],"experimental":[80],"validation":[81],"a":[83,127],"soft":[84],"tactile":[85],"sensor":[86,109,125],"array":[87,110],"sub-millimeter":[89],"measurement":[95],"during":[96],"micromanipulation.":[97],"The":[98],"geometry":[99],"placement":[101],"conductive":[103],"liquid":[104],"embedded":[105],"channels":[106],"within":[107],"are":[111],"optimized":[112],"provide":[114],"adequate":[115],"sensitivity":[116,128],"representative":[118],"micro-manipulation":[119],"tasks.":[120],"Mechanical":[121],"testing":[122],"demonstrates":[126],"less":[130],"than":[131],"50mN":[132],"resolution":[136],"on":[137],"order":[139],"100's":[141],"microns.":[143]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}