{"id":"https://openalex.org/W4200392826","doi":"https://doi.org/10.1109/iros51168.2021.9636817","title":"Development of a Permanent Magnet Elastomer (PME) Infused Soft Robot Skin for Tactile Sensing","display_name":"Development of a Permanent Magnet Elastomer (PME) Infused Soft Robot Skin for Tactile Sensing","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200392826","doi":"https://doi.org/10.1109/iros51168.2021.9636817"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636817","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5087315166","display_name":"Sahil Shembekar","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sahil Shembekar","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001851501","display_name":"Mitsuhiro Kamezaki","orcid":"https://orcid.org/0000-0002-4377-8993"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Kamezaki","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047075074","display_name":"Peizhi Zhang","orcid":"https://orcid.org/0000-0003-3520-4399"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Peizhi Zhang","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069987313","display_name":"Zhuoyi He","orcid":"https://orcid.org/0000-0001-8385-1633"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhuoyi He","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000876201","display_name":"Yuhiro Iwamoto","orcid":"https://orcid.org/0000-0003-4158-5423"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuhiro Iwamoto","raw_affiliation_strings":["Nagoya Institute of Technology, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya Institute of Technology, Aichi, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049560721","display_name":"Yasushi Ido","orcid":"https://orcid.org/0009-0008-0724-2279"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Ido","raw_affiliation_strings":["Nagoya Institute of Technology, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya Institute of Technology, Aichi, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031567187","display_name":"Hiroyuki Sakamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119352","display_name":"Nippon Paint (Japan)","ror":"https://ror.org/01t782854","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210119352"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Sakamoto","raw_affiliation_strings":["Nippon Paint Holdings Corp, Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nippon Paint Holdings Corp, Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I4210119352"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6961,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9230181,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6039","last_page":"6046"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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":0.9980000257492065,"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/magnet","display_name":"Magnet","score":0.8063747882843018},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.8011049032211304},{"id":"https://openalex.org/keywords/silicone","display_name":"Silicone","score":0.6132912635803223},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5951426029205322},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5621290802955627},{"id":"https://openalex.org/keywords/anisotropy","display_name":"Anisotropy","score":0.5397461652755737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5028085708618164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4742673635482788},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4659503400325775},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.42915740609169006},{"id":"https://openalex.org/keywords/magnetization","display_name":"Magnetization","score":0.41439101099967957},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3949393332004547},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.39161157608032227},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.388231098651886},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.32995927333831787},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2286590337753296},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1899004876613617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1446141004562378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14151179790496826},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.08846542239189148}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.8063747882843018},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.8011049032211304},{"id":"https://openalex.org/C2779769944","wikidata":"https://www.wikidata.org/wiki/Q146439","display_name":"Silicone","level":2,"score":0.6132912635803223},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5951426029205322},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5621290802955627},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.5397461652755737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5028085708618164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4742673635482788},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4659503400325775},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.42915740609169006},{"id":"https://openalex.org/C32546565","wikidata":"https://www.wikidata.org/wiki/Q856711","display_name":"Magnetization","level":3,"score":0.41439101099967957},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3949393332004547},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.39161157608032227},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.388231098651886},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.32995927333831787},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2286590337753296},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1899004876613617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1446141004562378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14151179790496826},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.08846542239189148},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/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/iros51168.2021.9636817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636817","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320322638","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1565505249","https://openalex.org/W1995213905","https://openalex.org/W2000724355","https://openalex.org/W2047043933","https://openalex.org/W2057299504","https://openalex.org/W2063113858","https://openalex.org/W2082173922","https://openalex.org/W2100777869","https://openalex.org/W2104924084","https://openalex.org/W2105574694","https://openalex.org/W2106291409","https://openalex.org/W2122169310","https://openalex.org/W2133835651","https://openalex.org/W2170553811","https://openalex.org/W2171130677","https://openalex.org/W2204882787","https://openalex.org/W2205969003","https://openalex.org/W2327594626","https://openalex.org/W2332548465","https://openalex.org/W2511197415","https://openalex.org/W2569244399","https://openalex.org/W2790961751","https://openalex.org/W2799692011","https://openalex.org/W2883279767","https://openalex.org/W2890533644","https://openalex.org/W2892345039","https://openalex.org/W2908719061","https://openalex.org/W2910077286","https://openalex.org/W2947553524","https://openalex.org/W2962688712","https://openalex.org/W2967301450","https://openalex.org/W3048272554","https://openalex.org/W3170785475"],"related_works":["https://openalex.org/W2487033392","https://openalex.org/W2500336658","https://openalex.org/W2354618027","https://openalex.org/W2329618406","https://openalex.org/W179141150","https://openalex.org/W2360098944","https://openalex.org/W3153919089","https://openalex.org/W4322731033","https://openalex.org/W3112293155","https://openalex.org/W4283740974"],"abstract_inverted_index":{"The":[0,61,117],"skin":[1,43,57,62,182,198,210],"is":[2,17,32,90,121,173,183,192],"an":[3,45],"important":[4],"organ":[5],"which":[6],"enables":[7],"humans":[8],"to":[9,75,105,111,185,200,203],"interact":[10],"with":[11],"the":[12,22,36,41,77,150,160,170,177,197,205,209],"unstructured":[13],"environment":[14],"around.":[15],"It":[16],"perfectly":[18],"soft":[19,55,119],"and":[20,100,110,114,146,176,217,226],"covers":[21],"entire":[23],"body":[24],"providing":[25],"immediate":[26],"feedback":[27],"even":[28],"when":[29],"that":[30,159],"part":[31],"not":[33],"directly":[34],"in":[35,47,96,141],"field":[37],"of":[38,67,135,144,222],"vision.":[39],"With":[40],"human":[42],"as":[44,70,147],"inspiration,":[46],"this":[48,136],"paper,":[49],"we":[50,218],"develop":[51],"a":[52,64,97,122,132,148],"novel":[53],"completely":[54],"robot":[56],"for":[58,83,108,125,180,224],"tactile":[59,87],"sensing.":[60],"utilizes":[63],"new":[65],"type":[66],"material":[68,137],"called":[69],"Permanent":[71],"Magnet":[72],"Elastomer":[73],"(PME)":[74],"replace":[76],"traditionally":[78],"used":[79],"hard":[80,127],"permanent":[81],"magnet":[82],"hall":[84],"effect":[85],"based":[86],"sensors.":[88],"PME":[89,120],"formed":[91],"by":[92,138,195],"mixing":[93],"Neodymium":[94],"particles":[95],"polymer":[98],"base":[99],"using":[101],"strong":[102,113],"magnetization":[103],"(up":[104],"6":[106],"T)":[107],"anisotropy":[109],"achieve":[112],"complete":[115],"magnetization.":[116],"6-axis":[118],"perfect":[123],"replacement":[124],"powerful":[126],"magnets.":[128],"We":[129],"also":[130,193],"do":[131],"thorough":[133],"analysis":[134],"infusing":[139],"it":[140,223],"different":[142],"types":[143],"silicone":[145],"result":[149],"most":[151],"suitable":[152],"combinations":[153],"are":[154],"selected.":[155],"Performance":[156],"tests":[157],"show":[158],"sensor":[161],"can":[162,211],"detect":[163],"minute":[164],"forces":[165],"like":[166],"0.1":[167],"N.":[168],"Moreover,":[169],"hysteresis":[171,178],"test":[172,191],"carried":[174],"out":[175],"error":[179],"our":[181],"found":[184],"be":[186],"only":[187],"1.402%.":[188],"An":[189],"overloading":[190],"performed":[194],"loading":[196],"up":[199],"64":[201],"N":[202],"check":[204],"robustness.":[206],"In":[207],"conclusion,":[208],"produce":[212],"reliable":[213],"Triaxial":[214],"force":[215,228],"measurements":[216,230],"present":[219],"two":[220],"models":[221],"smaller":[225],"large":[227],"range":[229],"respectively.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}