{"id":"https://openalex.org/W2615427793","doi":"https://doi.org/10.1109/iros.2016.7759817","title":"A soft three axis force sensor useful for robot grippers","display_name":"A soft three axis force sensor useful for robot grippers","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2615427793","doi":"https://doi.org/10.1109/iros.2016.7759817","mag":"2615427793"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011512727","display_name":"Damith Suresh Chathuranga","orcid":"https://orcid.org/0000-0001-6950-1848"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Damith Suresh Chathuranga","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107963334","display_name":"Yohan Noh","orcid":"https://orcid.org/0000-0002-1103-6397"},"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":"Yohan Noh","raw_affiliation_strings":["Department of Informatics, King's College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"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":"Thrishantha Nanayakkara","raw_affiliation_strings":["Department of Informatics, King's College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Hirai","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5556","last_page":"5563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9969000220298767,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9950000047683716,"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/grippers","display_name":"Grippers","score":0.8377151489257812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6425792574882507},{"id":"https://openalex.org/keywords/hall-effect-sensor","display_name":"Hall effect sensor","score":0.6421290040016174},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5574533939361572},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5517489910125732},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5102708339691162},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.4882345497608185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45964881777763367},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4257868528366089},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39890256524086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3277992010116577},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22011497616767883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20836925506591797}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8377151489257812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6425792574882507},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.6421290040016174},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5574533939361572},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5517489910125732},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5102708339691162},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.4882345497608185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45964881777763367},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4257868528366089},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39890256524086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3277992010116577},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22011497616767883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20836925506591797},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W211346643","https://openalex.org/W1565505249","https://openalex.org/W1570945417","https://openalex.org/W2047043933","https://openalex.org/W2050235381","https://openalex.org/W2050609926","https://openalex.org/W2057644215","https://openalex.org/W2063113858","https://openalex.org/W2086180075","https://openalex.org/W2100777869","https://openalex.org/W2103833642","https://openalex.org/W2115669646","https://openalex.org/W2127067435","https://openalex.org/W2138329241","https://openalex.org/W2163430610","https://openalex.org/W2168580726","https://openalex.org/W2294213948","https://openalex.org/W2327594626","https://openalex.org/W2539838946","https://openalex.org/W3039083618","https://openalex.org/W6663002175","https://openalex.org/W6980547258"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2259778155","https://openalex.org/W2765512466"],"abstract_inverted_index":{"A":[0,39],"novel":[1],"three":[2,23,85],"axis":[3],"force":[4,20,49,83],"sensor,":[5],"based":[6],"on":[7],"magnetic":[8,70],"flux":[9],"measurements,":[10],"was":[11,43,50,148],"used":[12,95,122,160],"in":[13,68,84,96,123,135,144,161],"the":[14,30,45,53,59,62,69,73,82,153,156],"fingers":[15],"of":[16,32,36,55,115,155],"a":[17,33,48,88,142,145],"gripper.":[18],"The":[19,106,126],"sensor":[21,92,117,127],"uses":[22],"Hall":[24],"Effect":[25],"sensors":[26,157],"orthogonally":[27],"placed":[28],"at":[29],"base":[31],"hemisphere":[34,60],"made":[35],"silicon":[37],"rubber.":[38],"neodymium":[40],"permanent":[41],"magnet":[42],"inside":[44],"hemisphere.":[46],"When":[47],"applied":[51],"to":[52,99,120,151,158],"perimeter":[54],"hemisphere,":[56],"it":[57,119],"compressed":[58],"displacing":[61],"magnet.":[63],"This":[64,91],"displacement":[65],"caused":[66],"change":[67],"field":[71],"around":[72],"Hall-effect":[74],"sensors.":[75],"By":[76],"analysing":[77],"these":[78],"changes,":[79],"we":[80],"calculated":[81],"directions":[86],"using":[87],"lookup":[89],"table.":[90],"can":[93],"be":[94,121,159],"robot":[97,162],"grippers":[98,163],"manipulate":[100],"objects":[101],"dexterously":[102],"with":[103],"tactile":[104],"feedback.":[105],"cheap":[107],"construction,":[108],"robustness":[109],"and":[110,130],"reliability":[111],"are":[112,133],"few":[113],"advantages":[114],"this":[116,136],"for":[118,164],"industrial":[124],"applications.":[125],"design,":[128],"simulation":[129],"its":[131],"characterization":[132],"presented":[134],"work.":[137],"Furthermore,":[138],"as":[139],"an":[140],"application,":[141],"peg":[143],"hole":[146],"experiment":[147],"carried":[149],"out":[150],"present":[152],"ability":[154],"manipulation":[165],"tasks.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}