{"id":"https://openalex.org/W4389666634","doi":"https://doi.org/10.1109/iros55552.2023.10342266","title":"Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling","display_name":"Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666634","doi":"https://doi.org/10.1109/iros55552.2023.10342266"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342266","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342266","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/A5091521146","display_name":"Shoujie Li","orcid":"https://orcid.org/0000-0002-5178-4517"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shoujie Li","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108655550","display_name":"Mingshan He","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mingshan He","raw_affiliation_strings":["Seoul National University,Department of Mechanical Engineering,Seoul,Korea","Department of Mechanical Engineering, Seoul National University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Mechanical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084510549","display_name":"Wenbo Ding","orcid":"https://orcid.org/0000-0002-0597-4512"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Ding","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042034627","display_name":"Linqi Ye","orcid":"https://orcid.org/0000-0003-3190-7660"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Linqi Ye","raw_affiliation_strings":["Qianyuan Institute of Science,Department of Intelligent Control,Hangzhou,China,310024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qianyuan Institute of Science,Department of Intelligent Control,Hangzhou,China,310024","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004980453","display_name":"Junbo Tan","orcid":"https://orcid.org/0000-0002-8956-5408"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Tan","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102512378","display_name":"Jinqiu Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210096354","display_name":"The Seventh Affiliated Hospital of Sun Yat-sen University","ror":"https://ror.org/00rfd5b88","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210096354"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinqiu Yuan","raw_affiliation_strings":["Clinical Research Center, The Seventh Affiliated Hospital, Sun Yat-sen University,Shenzhen,Guangdong,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clinical Research Center, The Seventh Affiliated Hospital, Sun Yat-sen University,Shenzhen,Guangdong,China,518107","institution_ids":["https://openalex.org/I4210096354","https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100363146","display_name":"Xiao\u2013Ping Zhang","orcid":"https://orcid.org/0000-0001-5241-0069"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xiao-Ping Zhang","raw_affiliation_strings":["Ryerson University,Department of Electrical, Computer and Biomedical Engineering,Toronto,ON,Canada,M5B 2K3"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ryerson University,Department of Electrical, Computer and Biomedical Engineering,Toronto,ON,Canada,M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5091521146"],"corresponding_institution_ids":["https://openalex.org/I4210114105"],"apc_list":null,"apc_paid":null,"fwci":0.3194,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54362436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4504","last_page":"4511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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":0.9973000288009644,"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":0.9962000250816345,"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":0.9921000003814697,"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/actuator","display_name":"Actuator","score":0.7264265418052673},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6276407837867737},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5072176456451416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4693126678466797},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3679884076118469},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.33490294218063354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33038848638534546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32760465145111084},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29531049728393555}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7264265418052673},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6276407837867737},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5072176456451416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4693126678466797},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3679884076118469},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.33490294218063354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33038848638534546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32760465145111084},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29531049728393555},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","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/iros55552.2023.10342266","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342266","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":[{"id":"https://openalex.org/G4078258698","display_name":null,"funder_award_id":"2020A1515110887","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"}],"funders":[{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W1957069376","https://openalex.org/W1973642254","https://openalex.org/W2054854590","https://openalex.org/W2073136132","https://openalex.org/W2087681821","https://openalex.org/W2333868129","https://openalex.org/W2438255111","https://openalex.org/W2775635818","https://openalex.org/W2786993589","https://openalex.org/W2961649484","https://openalex.org/W2963765355","https://openalex.org/W3008303301","https://openalex.org/W3012780255","https://openalex.org/W3031418103","https://openalex.org/W3042763373","https://openalex.org/W3081200565","https://openalex.org/W3096491640","https://openalex.org/W3096968495","https://openalex.org/W3100818121","https://openalex.org/W3101875589","https://openalex.org/W3108253685","https://openalex.org/W3130506077","https://openalex.org/W3131168342","https://openalex.org/W3135664767","https://openalex.org/W3155771942","https://openalex.org/W3208157217","https://openalex.org/W4205714909","https://openalex.org/W4285102159","https://openalex.org/W4285284863","https://openalex.org/W4286218282"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2063875960"],"abstract_inverted_index":{"Manual":[0],"oropharyngeal":[1],"(OP)":[2],"swab":[3,17,120],"sampling":[4,18,98,121,132],"is":[5,26,45,78,81,149,162],"an":[6],"intensive":[7],"and":[8,23,33,55,86,92,116,154],"risky":[9],"task.":[10],"In":[11],"this":[12],"article,":[13],"a":[14,39,69,74,97,102],"novel":[15],"OP":[16],"device":[19,127,148,169],"of":[20,52,58,118,125,146,158],"low":[21],"cost":[22,54,145],"high":[24,53],"compliance":[25,117],"designed":[27],"by":[28,64],"combining":[29],"the":[30,34,50,66,108,114,119,126,147,155,159,168],"visuotactile":[31,41],"sensor":[32,42],"pneumatic":[35,71],"actuator-based":[36],"gripper.":[37],"Here,":[38],"concave":[40],"called":[43],"CoTac":[44],"first":[46],"proposed":[47],"to":[48,83,112,170],"address":[49],"problems":[51],"poor":[56],"reliability":[57],"traditional":[59],"multi-axis":[60],"force":[61,111],"sensors.":[62],"Besides,":[63],"imitating":[65],"doctor's":[67],"fingers,":[68],"soft":[70],"actuator":[72],"with":[73],"rigid":[75],"skeleton":[76],"structure":[77],"designed,":[79],"which":[80],"demonstrated":[82],"be":[84,171],"reliable":[85],"safe":[87],"via":[88],"finite":[89],"element":[90],"modeling":[91],"experiments.":[93],"Furthermore,":[94],"we":[95],"propose":[96],"method":[99],"that":[100],"adopts":[101],"compliant":[103],"control":[104],"algorithm":[105],"based":[106],"on":[107,174],"adaptive":[109],"virtual":[110],"enhance":[113],"safety":[115],"process.":[122],"The":[123,144],"effectiveness":[124],"has":[128],"been":[129],"verified":[130],"through":[131],"experiments":[133],"as":[134,136],"well":[135],"in":[137],"vivo":[138],"tests,":[139],"indicating":[140],"great":[141],"application":[142],"potential.":[143],"around":[150],"30":[151],"US":[152],"dollars":[153],"total":[156],"weight":[157],"functional":[160],"part":[161],"less":[163],"than":[164],"0.1":[165],"kg,":[166],"allowing":[167],"rapidly":[172],"deployed":[173],"various":[175],"robotic":[176],"arms.":[177]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
