{"id":"https://openalex.org/W4312277356","doi":"https://doi.org/10.1109/iros47612.2022.9981081","title":"Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science","display_name":"Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312277356","doi":"https://doi.org/10.1109/iros47612.2022.9981081"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981081","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5073028806","display_name":"Yusaku Nakajima","orcid":"https://orcid.org/0000-0001-9926-9891"},"institutions":[{"id":"https://openalex.org/I138728355","display_name":"High Energy Accelerator Research Organization","ror":"https://ror.org/01g5y5k24","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I138728355"]},{"id":"https://openalex.org/I200475212","display_name":"The Graduate University for Advanced Studies, SOKENDAI","ror":"https://ror.org/0516ah480","country_code":"JP","type":"education","lineage":["https://openalex.org/I200475212"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yusaku Nakajima","raw_affiliation_strings":["The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan","Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","institution_ids":["https://openalex.org/I200475212"]},{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan","institution_ids":["https://openalex.org/I200475212"]},{"raw_affiliation_string":"Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan","institution_ids":["https://openalex.org/I138728355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hamaya","raw_affiliation_strings":["OMRON SINIC X Corporation (OSX),Tokyo,Japan","OMRON SINIC X Corporation (OSX), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX),Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]},{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX), Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989123","display_name":"Yuta Suzuki","orcid":"https://orcid.org/0000-0002-0019-4832"},"institutions":[{"id":"https://openalex.org/I138728355","display_name":"High Energy Accelerator Research Organization","ror":"https://ror.org/01g5y5k24","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I138728355"]},{"id":"https://openalex.org/I200475212","display_name":"The Graduate University for Advanced Studies, SOKENDAI","ror":"https://ror.org/0516ah480","country_code":"JP","type":"education","lineage":["https://openalex.org/I200475212"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Suzuki","raw_affiliation_strings":["The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan","The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","institution_ids":["https://openalex.org/I200475212"]},{"raw_affiliation_string":"Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan","institution_ids":["https://openalex.org/I138728355"]},{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan","institution_ids":["https://openalex.org/I200475212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086841247","display_name":"Takafumi Hawai","orcid":"https://orcid.org/0000-0001-5919-2682"},"institutions":[{"id":"https://openalex.org/I138728355","display_name":"High Energy Accelerator Research Organization","ror":"https://ror.org/01g5y5k24","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I138728355"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takafumi Hawai","raw_affiliation_strings":["Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK),Ibaraki,Japan","Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK),Ibaraki,Japan","institution_ids":["https://openalex.org/I138728355"]},{"raw_affiliation_string":"Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan","institution_ids":["https://openalex.org/I138728355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009765043","display_name":"Felix von Drigalski","orcid":"https://orcid.org/0000-0002-2679-8968"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Felix von Drigalski","raw_affiliation_strings":["OMRON SINIC X Corporation (OSX),Tokyo,Japan","OMRON SINIC X Corporation (OSX), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX),Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]},{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX), Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045607922","display_name":"Kazutoshi Tanaka","orcid":"https://orcid.org/0000-0003-0880-9333"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazutoshi Tanaka","raw_affiliation_strings":["OMRON SINIC X Corporation (OSX),Tokyo,Japan","OMRON SINIC X Corporation (OSX), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX),Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]},{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX), Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077707500","display_name":"Yoshitaka Ushiku","orcid":"https://orcid.org/0000-0002-9014-1389"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshitaka Ushiku","raw_affiliation_strings":["OMRON SINIC X Corporation (OSX),Tokyo,Japan","OMRON SINIC X Corporation (OSX), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX),Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]},{"raw_affiliation_string":"OMRON SINIC X Corporation (OSX), Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091884011","display_name":"Kanta Ono","orcid":"https://orcid.org/0000-0002-3285-9093"},"institutions":[{"id":"https://openalex.org/I200475212","display_name":"The Graduate University for Advanced Studies, SOKENDAI","ror":"https://ror.org/0516ah480","country_code":"JP","type":"education","lineage":["https://openalex.org/I200475212"]},{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]},{"id":"https://openalex.org/I138728355","display_name":"High Energy Accelerator Research Organization","ror":"https://ror.org/01g5y5k24","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I138728355"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanta Ono","raw_affiliation_strings":["The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan","Department of Applied Physics, Osaka University, Osaka, Japan","Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI),Ibaraki,Japan","institution_ids":["https://openalex.org/I200475212"]},{"raw_affiliation_string":"The Graduate University for Advanced Studies (SOKENDAI), Ibaraki, Japan","institution_ids":["https://openalex.org/I200475212"]},{"raw_affiliation_string":"Department of Applied Physics, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Institute of Materials Structure Science (IMSS), High Energy Accelerator Research Organization (KEK), Ibaraki, Japan","institution_ids":["https://openalex.org/I138728355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5073028806"],"corresponding_institution_ids":["https://openalex.org/I138728355","https://openalex.org/I200475212"],"apc_list":null,"apc_paid":null,"fwci":4.486,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96303561,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2320","last_page":"2326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grind","display_name":"Grind","score":0.9322903752326965},{"id":"https://openalex.org/keywords/grinding","display_name":"Grinding","score":0.8602713346481323},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6804323196411133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4938274323940277},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.47934040427207947},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.44858431816101074},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.38529130816459656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28951117396354675}],"concepts":[{"id":"https://openalex.org/C2779201687","wikidata":"https://www.wikidata.org/wiki/Q638274","display_name":"Grind","level":3,"score":0.9322903752326965},{"id":"https://openalex.org/C2777571299","wikidata":"https://www.wikidata.org/wiki/Q3680646","display_name":"Grinding","level":2,"score":0.8602713346481323},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6804323196411133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4938274323940277},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.47934040427207947},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.44858431816101074},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.38529130816459656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28951117396354675}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981081","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W158164316","https://openalex.org/W1855065076","https://openalex.org/W1988842768","https://openalex.org/W2022020267","https://openalex.org/W2068127265","https://openalex.org/W2085485114","https://openalex.org/W2114804859","https://openalex.org/W2120442417","https://openalex.org/W2121492614","https://openalex.org/W2124628973","https://openalex.org/W2135357652","https://openalex.org/W2311304419","https://openalex.org/W2477338288","https://openalex.org/W2576246534","https://openalex.org/W2607136978","https://openalex.org/W2624906538","https://openalex.org/W2739636222","https://openalex.org/W2772378680","https://openalex.org/W2799915630","https://openalex.org/W2884793593","https://openalex.org/W2890891974","https://openalex.org/W2948964722","https://openalex.org/W2953097421","https://openalex.org/W2968071222","https://openalex.org/W2968923792","https://openalex.org/W2971241475","https://openalex.org/W2974765161","https://openalex.org/W3028308378","https://openalex.org/W3042021489","https://openalex.org/W3089337217","https://openalex.org/W3100172161","https://openalex.org/W3112747941","https://openalex.org/W3118317004","https://openalex.org/W3133009843","https://openalex.org/W3136025385","https://openalex.org/W3183861986","https://openalex.org/W3200430486","https://openalex.org/W3204896005","https://openalex.org/W3207689442"],"related_works":["https://openalex.org/W2361866035","https://openalex.org/W2371448739","https://openalex.org/W33704147","https://openalex.org/W2329491647","https://openalex.org/W2054301029","https://openalex.org/W2006658557","https://openalex.org/W2597094385","https://openalex.org/W2366310228","https://openalex.org/W1985336295","https://openalex.org/W1980060154"],"abstract_inverted_index":{"Grinding":[0],"materials":[1,66],"into":[2],"a":[3,7,35,59,97,129],"fine":[4],"powder":[5,37,80,104,127],"is":[6,14],"time-consuming":[8],"task":[9],"in":[10,43,162],"material":[11,44],"science":[12,45],"that":[13,47,101,118],"generally":[15],"performed":[16],"by":[17,136],"hand,":[18],"as":[19],"current":[20],"automated":[21],"grinding":[22,38,55,89],"machines":[23],"might":[24],"not":[25],"be":[26,72,159],"suitable":[27],"for":[28,40,87],"preparing":[29],"small-sized":[30],"samples.":[31],"This":[32,144],"study":[33],"presents":[34],"robotic":[36],"system":[39,100,120,157],"laboratory":[41],"automation":[42],"applications":[46],"observe":[48],"the":[49,54,103,126,138,151,166],"powder's":[50],"state":[51],"to":[52,78,109,113,128,164],"improve":[53],"outcome.":[56],"We":[57],"developed":[58,96],"soft":[60,139,152],"jig":[61,140,153],"consisting":[62],"of":[63,125,168],"off-the-shelf":[64],"gel":[65],"and":[67,106,111,141],"3D-printed":[68],"parts,":[69],"which":[70],"can":[71,158],"used":[73,160],"with":[74],"any":[75],"robot":[76],"arm":[77],"perform":[79],"grinding.":[81],"The":[82,115],"jig's":[83],"physical":[84],"softness":[85],"allows":[86],"safe":[88],"without":[90,154],"force":[91],"sensing.":[92],"In":[93],"addition,":[94],"we":[95],"visual":[98,142],"feedback":[99],"observes":[102],"distribution":[105],"decides":[107],"where":[108],"grind":[110,122],"when":[112,148],"gather.":[114],"results":[116],"showed":[117],"our":[119],"could":[121],"79":[123],"percent":[124],"particle":[130],"size":[131],"smaller":[132],"than":[133],"200":[134],"\u03bcm":[135],"using":[137,149],"feedback.":[143,155],"ratio":[145],"was":[146],"57%":[147],"only":[150],"Our":[156],"immediately":[161],"laboratories":[163],"alleviate":[165],"workload":[167],"researchers.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}