{"id":"https://openalex.org/W2221525596","doi":"https://doi.org/10.1109/iros.2015.7353657","title":"Tactile sensing system for robotics dexterous manipulation based on a matrix of 3-axes force sensors","display_name":"Tactile sensing system for robotics dexterous manipulation based on a matrix of 3-axes force sensors","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2221525596","doi":"https://doi.org/10.1109/iros.2015.7353657","mag":"2221525596"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5073423262","display_name":"Andr\u00e9s Eduardo Castro-Ospina","orcid":"https://orcid.org/0000-0003-3893-1137"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I3020098449","display_name":"CEA Grenoble","ror":"https://ror.org/02mg6n827","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I3020098449"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andres Ospina","raw_affiliation_strings":["LSCM within la CEA, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSCM within la CEA, Grenoble, France","institution_ids":["https://openalex.org/I3020098449","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072934395","display_name":"Saifeddine Aloui","orcid":"https://orcid.org/0000-0001-7020-4461"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I3020098449","display_name":"CEA Grenoble","ror":"https://ror.org/02mg6n827","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I3020098449"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Saifeddine Aloui","raw_affiliation_strings":["LSCM within la CEA, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSCM within la CEA, Grenoble, France","institution_ids":["https://openalex.org/I3020098449","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090351820","display_name":"Christelle Godin","orcid":"https://orcid.org/0000-0001-7873-8724"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I3020098449","display_name":"CEA Grenoble","ror":"https://ror.org/02mg6n827","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I3020098449"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christelle Godin","raw_affiliation_strings":["LSCM within la CEA, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSCM within la CEA, Grenoble, France","institution_ids":["https://openalex.org/I3020098449","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874922","display_name":"Mathieu Grossard","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu Grossard","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST","Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039093274","display_name":"Alain Micaelli","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alain Micaelli","raw_affiliation_strings":["Interactive Simulation Laboratory of CEA-LIST","Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Simulation Laboratory of CEA-LIST","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1819,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57098676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2105","last_page":"2110"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9980999827384949,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9891999959945679,"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/tactile-sensor","display_name":"Tactile sensor","score":0.8455015420913696},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.7957461476325989},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.694406270980835},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6404045820236206},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5990575551986694},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5549665689468384},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5285723805427551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47562840580940247},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.46328678727149963},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.4627724885940552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4555566906929016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43508613109588623},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.41987907886505127},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.41490232944488525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38250744342803955},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.34894752502441406},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34205153584480286},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.21834436058998108},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1806219518184662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14385095238685608},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.10031747817993164},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.09771707653999329}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8455015420913696},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.7957461476325989},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.694406270980835},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6404045820236206},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5990575551986694},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5549665689468384},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5285723805427551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47562840580940247},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.46328678727149963},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.4627724885940552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4555566906929016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43508613109588623},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.41987907886505127},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.41490232944488525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38250744342803955},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.34894752502441406},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34205153584480286},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.21834436058998108},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1806219518184662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14385095238685608},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.10031747817993164},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.09771707653999329},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:cea-01813728v1","is_oa":false,"landing_page_url":"https://cea.hal.science/cea-01813728","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.2105-2110, &#x27E8;10.1109/IROS.2015.7353657&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1579250582","https://openalex.org/W1976664534","https://openalex.org/W1983156320","https://openalex.org/W2087964270","https://openalex.org/W2103654576","https://openalex.org/W2144938737","https://openalex.org/W2171130677","https://openalex.org/W2294213948","https://openalex.org/W2570268714"],"related_works":["https://openalex.org/W2154907448","https://openalex.org/W2187628146","https://openalex.org/W2373005596","https://openalex.org/W4207016008","https://openalex.org/W2622859989","https://openalex.org/W2082416097","https://openalex.org/W2023956079","https://openalex.org/W3098946054","https://openalex.org/W2479468204","https://openalex.org/W1960616769"],"abstract_inverted_index":{"This":[0],"paper":[1,37],"presents":[2],"a":[3,27,48],"tactile":[4],"sensing":[5],"system":[6],"capable":[7],"of":[8,19,22,33,47,51,62,91],"measuring":[9],"three":[10,13],"force":[11,67,78],"components,":[12],"torque":[14],"components":[15,79],"and":[16,44,76],"the":[17,20,23,40,42,45,55,73,77,92],"position":[18,75],"centroid":[21],"forces":[24],"applied":[25],"to":[26,30,59,95],"surface":[28,56],"linked":[29],"an":[31,60],"array":[32,61],"force-torque":[34],"sensors.":[35,68],"The":[36,82],"deals":[38],"with":[39],"design,":[41],"calibration,":[43],"testing":[46],"specific":[49],"configuration":[50],"this":[52,70,87],"system,":[53],"where":[54],"is":[57],"connected":[58],"piezoresistive":[63],"MEMs":[64],"silicon":[65],"3-axis":[66],"In":[69],"configuration,":[71],"only":[72],"contact":[74],"are":[80],"estimated.":[81],"tests":[83],"have":[84],"proven":[85],"that":[86],"sensor":[88],"satisfies":[89],"most":[90],"characteristics":[93],"needed":[94],"achieve":[96],"robotic":[97],"dexterous":[98],"manipulation.":[99]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
