{"id":"https://openalex.org/W2214541747","doi":"https://doi.org/10.1109/iros.2015.7353748","title":"Multi-axis stiffness sensing device for medical palpation","display_name":"Multi-axis stiffness sensing device for medical palpation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2214541747","doi":"https://doi.org/10.1109/iros.2015.7353748","mag":"2214541747"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353748","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":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/1478354/1/Multi-axis%20stiffness%20sensing.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034743350","display_name":"Angela Faragasso","orcid":"https://orcid.org/0000-0002-8948-3592"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"A. Faragasso","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033887596","display_name":"Agostino Stilli","orcid":"https://orcid.org/0000-0002-4904-0500"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"A. Stilli","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060894383","display_name":"Jo\u00e3o Bimbo","orcid":"https://orcid.org/0000-0002-4720-9026"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"J. Bimbo","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062557484","display_name":"Helge W\u00fcrdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"H.A. Wurdemann","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"K. Althoefer","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034743350"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":1.4548,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.81609473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2711","last_page":"2716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12015","display_name":"Photoacoustic and Ultrasonic Imaging","score":0.9908999800682068,"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/stiffness","display_name":"Stiffness","score":0.6467180252075195},{"id":"https://openalex.org/keywords/palpation","display_name":"Palpation","score":0.6333373785018921},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5921215415000916},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.557753324508667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5397279262542725},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5116005539894104},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5087104439735413},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.5042232275009155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4850589334964752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4325483441352844},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.36453959345817566},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.35256198048591614},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2693498134613037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1970367431640625},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18913161754608154},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14001116156578064},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1270809769630432},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11886361241340637},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10664567351341248}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6467180252075195},{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.6333373785018921},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5921215415000916},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.557753324508667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5397279262542725},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5116005539894104},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5087104439735413},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.5042232275009155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4850589334964752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4325483441352844},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.36453959345817566},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.35256198048591614},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2693498134613037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1970367431640625},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18913161754608154},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14001116156578064},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1270809769630432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11886361241340637},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10664567351341248},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"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":4,"locations":[{"id":"doi:10.1109/iros.2015.7353748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353748","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:eprints.ucl.ac.uk.OAI2:1478354","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1478354/","pdf_url":"https://discovery.ucl.ac.uk/1478354/1/Multi-axis%20stiffness%20sensing.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 2711-2716).  IEEE: Hamburg, Germany. (2015)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/7a00e863-14f8-4c6d-afe9-d26081b631dc","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84958183251&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faragasso, A, Stilli, A, Bimbo, J, Wurdemann, H A & Althoefer, K 2015, Multi-axis stiffness sensing device for medical palpation. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353748, pp. 2711-2716, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/2015. https://doi.org/10.1109/IROS.2015.7353748","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/12840","is_oa":false,"landing_page_url":"http://qmro.qmul.ac.uk/xmlui/handle/123456789/12840","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1478354","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1478354/","pdf_url":"https://discovery.ucl.ac.uk/1478354/1/Multi-axis%20stiffness%20sensing.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 2711-2716).  IEEE: Hamburg, Germany. (2015)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2214541747.pdf","grobid_xml":"https://content.openalex.org/works/W2214541747.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W24397451","https://openalex.org/W1233196389","https://openalex.org/W1523752342","https://openalex.org/W1821396509","https://openalex.org/W1989584559","https://openalex.org/W1992845713","https://openalex.org/W2003223570","https://openalex.org/W2007924064","https://openalex.org/W2034317417","https://openalex.org/W2046888653","https://openalex.org/W2061610431","https://openalex.org/W2063281900","https://openalex.org/W2083039650","https://openalex.org/W2087070363","https://openalex.org/W2101535012","https://openalex.org/W2102904058","https://openalex.org/W2111417878","https://openalex.org/W2111551460","https://openalex.org/W2144209063","https://openalex.org/W2147462102","https://openalex.org/W2147858135","https://openalex.org/W2159349609","https://openalex.org/W2160262468","https://openalex.org/W2315432338","https://openalex.org/W4244461497","https://openalex.org/W6631511665"],"related_works":["https://openalex.org/W2396260350","https://openalex.org/W1481335984","https://openalex.org/W2323625407","https://openalex.org/W1503243521","https://openalex.org/W2417898593","https://openalex.org/W2627174696","https://openalex.org/W638052727","https://openalex.org/W1990149777","https://openalex.org/W1862956069","https://openalex.org/W2014138715"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,209],"innovative":[4],"hand-held":[5],"device":[6,18,89,141,183,191],"able":[7],"to":[8,50,68,116,161],"compute":[9],"stiffness":[10,30,94],"when":[11,57,80,184],"interacting":[12,58,81],"with":[13,59,70,82,143,152],"a":[14,26,60,83],"soft":[15,61,84,111,164],"object.":[16,85,112,149],"The":[17,29,86,188],"is":[19,31,170],"composed":[20],"of":[21,38,44,53,76,109,120,128,138,146,157,181],"four":[22,55],"linear":[23],"indenters":[24,56,65,78],"and":[25,100,106,136,212],"USB":[27],"camera.":[28,46],"computed":[32],"in":[33,41,195,214],"real-time,":[34],"tracking":[35],"the":[36,42,45,51,54,64,74,77,92,98,104,107,110,118,121,134,139,144,147,155,158,173,179,182,186],"movements":[37,48,52],"spherical":[39],"features":[40],"image":[43],"Those":[47],"relate":[49],"surface.":[62,187],"Since":[63],"are":[66,175],"connected":[67],"springs":[69,127],"different":[71,196],"spring":[72],"constants,":[73],"displacement":[75],"varies":[79],"proposed":[87,122,140,189],"multi-indenting":[88],"allows":[90],"measuring":[91],"object's":[93],"as":[95,97,199],"well":[96],"pan":[99],"tilt":[101],"angles":[102],"between":[103],"sensor":[105],"surface":[108],"Tests":[113],"were":[114],"performed":[115],"evaluate":[117],"accuracy":[119,135],"palpation":[123,201],"mechanism":[124,160],"against":[125],"commercial":[126],"known":[129],"stiffness.":[130],"Results":[131],"show":[132,154],"that":[133,172],"sensitivity":[137],"increases":[142],"softness":[145],"examined":[148],"Preliminary":[150],"tests":[151],"silicon":[153],"ability":[156],"sensing":[159,190],"characterize":[162],"phantom":[163],"tissue":[165],"for":[166,202],"small":[167],"indentation.":[168],"It":[169],"noted":[171],"results":[174],"not":[176],"affected":[177],"by":[178],"orientation":[180],"probing":[185],"can":[192],"be":[193],"used":[194,213],"applications,":[197],"such":[198],"external":[200],"diagnosis":[203],"or,":[204],"if":[205],"miniaturized,":[206],"embedded":[207],"on":[208],"endoscopic":[210],"camera":[211],"Minimally":[215],"Invasive":[216],"Surgery":[217],"(MIS).":[218]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
