{"id":"https://openalex.org/W4405785659","doi":"https://doi.org/10.1109/iros58592.2024.10801566","title":"Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers","display_name":"Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785659","doi":"https://doi.org/10.1109/iros58592.2024.10801566"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100377211","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0003-0032-5975"},"institutions":[{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Meng Wang","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101884755","display_name":"Wanlin Li","orcid":"https://orcid.org/0000-0002-8538-8571"},"institutions":[{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanlin Li","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059667265","display_name":"Hao Liang","orcid":"https://orcid.org/0000-0003-4183-3423"},"institutions":[{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liang","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037908206","display_name":"Boren Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boren Li","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Queen Mary University of London,Centre for Advanced Robotics @ Queen Mary (ARQ)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Centre for Advanced Robotics @ Queen Mary (ARQ)","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102740429","display_name":"Yao Su","orcid":"https://orcid.org/0000-0001-8375-5692"},"institutions":[{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Su","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043423420","display_name":"Hangxin Liu","orcid":"https://orcid.org/0000-0002-3003-8611"},"institutions":[{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":null,"type":"facility","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangxin Liu","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100377211"],"corresponding_institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"],"apc_list":null,"apc_paid":null,"fwci":1.011,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73772731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13946","last_page":"13952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.994700014591217,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9884999990463257,"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":0.8764480352401733},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6905093193054199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5338472127914429},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5295252203941345},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4804815351963043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42904454469680786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41241759061813354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2170693278312683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21110153198242188},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15939709544181824}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8764480352401733},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6905093193054199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338472127914429},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5295252203941345},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4804815351963043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42904454469680786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41241759061813354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2170693278312683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21110153198242188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15939709544181824},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/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/iros58592.2024.10801566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6399999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1516071549","https://openalex.org/W1964337419","https://openalex.org/W1999585120","https://openalex.org/W2105777811","https://openalex.org/W2128681845","https://openalex.org/W2256016128","https://openalex.org/W2566205559","https://openalex.org/W2775357942","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2962688712","https://openalex.org/W2963765355","https://openalex.org/W2967244466","https://openalex.org/W2982567022","https://openalex.org/W2995983596","https://openalex.org/W3008303301","https://openalex.org/W3089374988","https://openalex.org/W3089672928","https://openalex.org/W3090215479","https://openalex.org/W3091749147","https://openalex.org/W3093778148","https://openalex.org/W3119601298","https://openalex.org/W3130589561","https://openalex.org/W3192021195","https://openalex.org/W3203074748","https://openalex.org/W3205115400","https://openalex.org/W4226515748","https://openalex.org/W4281900509","https://openalex.org/W4376605827","https://openalex.org/W4383200202","https://openalex.org/W4385430564","https://openalex.org/W4389352581","https://openalex.org/W6773420040","https://openalex.org/W6856682425"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W4386100501","https://openalex.org/W2968390578","https://openalex.org/W4389897638","https://openalex.org/W2962964599"],"abstract_inverted_index":{"Vision-based":[0],"Tactile":[1],"Sensors":[2],"(VBTSs)":[3],"show":[4,134],"significant":[5],"promise":[6],"in":[7,94],"that":[8,135],"they":[9],"can":[10,139],"leverage":[11],"image":[12,65],"measurements":[13],"to":[14,25,90],"provide":[15],"high-spatial-resolution":[16],"human-like":[17],"performance.":[18],"However,":[19],"current":[20],"VBTS":[21,75,137],"designs,":[22],"typically":[23],"confined":[24],"the":[26,45,95,103,123,149],"fingertips":[27],"of":[28,51,98,126],"robotic":[29,109],"grippers,":[30],"prove":[31],"somewhat":[32],"inadequate,":[33],"as":[34],"many":[35],"grasping":[36],"and":[37,83,130],"manipulation":[38],"tasks":[39],"require":[40],"multiple":[41,99],"contact":[42,124],"points":[43],"with":[44,68,112],"object.":[46],"With":[47],"an":[48],"end":[49],"goal":[50],"enabling":[52],"large-scale,":[53],"multi-surface":[54],"tactile":[55,118],"sensing":[56],"via":[57],"VBTSs,":[58],"our":[59,136],"research":[60],"(i)":[61],"develops":[62],"a":[63,73,86,106],"synchronized":[64],"acquisition":[66],"system":[67,104],"minimal":[69],"latency,":[70],"(ii)":[71],"proposes":[72],"modularized":[74],"design":[76,138],"for":[77,152],"easy":[78],"integration":[79],"into":[80,143],"finger":[81],"phalanges,":[82],"(iii)":[84],"devises":[85],"zero-shot":[87],"calibration":[88,97],"approach":[89],"improve":[91],"data":[92,150],"efficiency":[93],"simultaneous":[96],"VBTSs.":[100],"In":[101],"validating":[102],"within":[105],"miniature":[107],"3-fingered":[108],"gripper":[110,128],"equipped":[111],"7":[113],"VBTSs":[114],"we":[115,133],"demonstrate":[116],"improved":[117],"perception":[119],"performance":[120],"by":[121],"covering":[122],"surfaces":[125],"both":[127],"fingers":[129],"palm.":[131],"Additionally,":[132],"be":[140],"seamlessly":[141],"integrated":[142],"various":[144],"end-effector":[145],"morphologies":[146],"significantly":[147],"reducing":[148],"requirements":[151],"calibration.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}
