{"id":"https://openalex.org/W4389665928","doi":"https://doi.org/10.1109/iros55552.2023.10341390","title":"Employing Multi-Layer, Sensorised Kirigami Grippers for Single-Grasp Based Identification of Objects and Force Exertion Estimation","display_name":"Employing Multi-Layer, Sensorised Kirigami Grippers for Single-Grasp Based Identification of Objects and Force Exertion Estimation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665928","doi":"https://doi.org/10.1109/iros55552.2023.10341390"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341390","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5091212372","display_name":"Junbang Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Junbang Liang","raw_affiliation_strings":["The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040823368","display_name":"Joao Buzzatto","orcid":"https://orcid.org/0000-0003-3725-4023"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Joao Buzzatto","raw_affiliation_strings":["The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093460611","display_name":"Bryan Busby","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Bryan Busby","raw_affiliation_strings":["The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069925920","display_name":"Ricardo V. Godoy","orcid":"https://orcid.org/0000-0002-5323-9299"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Ricardo V. Godoy","raw_affiliation_strings":["The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038470045","display_name":"Saori Matsunaga","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Saori Matsunaga","raw_affiliation_strings":["Mitsubishi Electric Corporation,The Information Technology R&D Center,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Corporation,The Information Technology R&D Center,Japan","institution_ids":["https://openalex.org/I4210133125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083563708","display_name":"Rintaro Haraguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rintaro Haraguchi","raw_affiliation_strings":["Mitsubishi Electric Corporation,The Advanced Technology R&D Center,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Corporation,The Advanced Technology R&D Center,Japan","institution_ids":["https://openalex.org/I4210133125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039213985","display_name":"Toshisada Mariyama","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshisada Mariyama","raw_affiliation_strings":["Mitsubishi Electric Corporation,The Information Technology R&D Center,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Corporation,The Information Technology R&D Center,Japan","institution_ids":["https://openalex.org/I4210133125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065146109","display_name":"Bruce A. MacDonald","orcid":"https://orcid.org/0000-0001-7602-8497"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Bruce A. MacDonald","raw_affiliation_strings":["The University of Auckland,The Centre for Automation and Robotic Engineering Science,Department of Electrical, Computer and Soft-ware Engineering,New Zealand","Department of Electrical, Computer and Soft-ware Engineering, The Centre for Automation and Robotic Engineering Science, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The Centre for Automation and Robotic Engineering Science,Department of Electrical, Computer and Soft-ware Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Electrical, Computer and Soft-ware Engineering, The Centre for Automation and Robotic Engineering Science, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,The New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1025,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42461402,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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/T10868","display_name":"Soft Robotics and Applications","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9968000054359436,"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":0.9647300243377686},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9027530550956726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7159896492958069},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.6683382391929626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6141655445098877},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5777289867401123},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5288613438606262},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5129768252372742},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33963853120803833},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08962124586105347}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9647300243377686},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9027530550956726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7159896492958069},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.6683382391929626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6141655445098877},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5777289867401123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5288613438606262},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5129768252372742},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33963853120803833},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08962124586105347},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341390","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":27,"referenced_works":["https://openalex.org/W1609920162","https://openalex.org/W1847353717","https://openalex.org/W1854459117","https://openalex.org/W1930624869","https://openalex.org/W1970733794","https://openalex.org/W2007924815","https://openalex.org/W2041060038","https://openalex.org/W2296718990","https://openalex.org/W2342392491","https://openalex.org/W2344872270","https://openalex.org/W2512216316","https://openalex.org/W2518073382","https://openalex.org/W2544013339","https://openalex.org/W2611545432","https://openalex.org/W2623551786","https://openalex.org/W2746752553","https://openalex.org/W2788127870","https://openalex.org/W2800945641","https://openalex.org/W2908899527","https://openalex.org/W2911964244","https://openalex.org/W2969211246","https://openalex.org/W3098350030","https://openalex.org/W3132016146","https://openalex.org/W3163443358","https://openalex.org/W4210330146","https://openalex.org/W4312423505","https://openalex.org/W6631190155"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3021551196","https://openalex.org/W2657478029","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W3146859979","https://openalex.org/W4224220472"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,43,74,200],"devices":[2,23],"have":[3,34],"been":[4,35],"popular":[5],"in":[6,134,153,206],"handling":[7,141],"intricate":[8],"grasping":[9,84,187],"and":[10,28,40,45,54,60,83,95,107],"dexterous":[11],"manipulation":[12],"tasks,":[13],"serving":[14],"as":[15],"an":[16,57,147],"alternative":[17],"to":[18,37,56,99,114,184],"conventional,":[19],"rigid":[20],"end-effectors.":[21],"These":[22,47,193],"are":[24,112,172,215],"relatively":[25],"simple,":[26],"lightweight,":[27],"cost-effective.":[29],"Recently,":[30],"kirigami":[31,105,198],"based":[32,174,199],"structures":[33],"used":[36],"create":[38],"low-cost":[39],"disposable":[41],"soft":[42,73],"grippers":[44,48,75],"hands.":[46],"undergo":[49],"a":[50,128,161,207],"complex":[51],"post-contact":[52],"reconfiguration":[53],"conform":[55],"object's":[58],"shape":[59],"size":[61],"during":[62],"grasping.":[63],"In":[64],"this":[65,69],"paper,":[66],"we":[67],"explore":[68],"new":[70],"class":[71],"of":[72,103,131,137,149,164,179,209],"by":[76,190],"utilising":[77],"them":[78],"for":[79,119,203],"single-grasp":[80],"object":[81,204],"classification":[82,177,205],"force":[85,169,188],"estimation.":[86],"We":[87],"install":[88],"simplistic":[89],"sensors":[90],"on":[91,175],"both":[92],"the":[93,96,101,104,108,121,144,157,176,180,186,191,197],"gripper":[94],"actuation":[97],"system":[98],"estimate":[100,185],"state":[102],"gripper,":[106],"collected":[109],"data":[110],"features":[111],"employed":[113],"train":[115],"Random":[116,181],"Forest":[117,182],"models":[118,171],"identifying":[120],"grasped":[122],"object.":[123],"The":[124],"classifier":[125,145,158],"trained":[126],"exhibits":[127],"high":[129,162],"accuracy":[130,148,163],"98":[132],"%":[133],"discriminating":[135],"objects":[136],"various":[138],"shapes.":[139],"When":[140],"food":[142],"items,":[143],"achieves":[146],"94":[150],"%,":[151],"while":[152],"classifying":[154],"transparent":[155],"objects,":[156],"obtained":[159],"again":[160],"97":[165],"%.":[166],"Finally,":[167],"object-specific":[168],"estimation":[170],"triggered":[173],"decision":[178],"model":[183],"exerted":[189],"gripper.":[192],"positive":[194],"outcomes":[195],"demonstrate":[196],"gripper's":[201],"potential":[202],"variety":[208],"circumstances,":[210],"particularly":[211],"where":[212],"vision":[213],"systems":[214],"not":[216,219],"available":[217],"or":[218],"reliable.":[220]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}