{"id":"https://openalex.org/W4416748408","doi":"https://doi.org/10.1109/iros60139.2025.11246144","title":"R-Tac0: A Rounded High-Frequency Transferable Monochrome Vision-based Tactile Sensor for Shape Reconstruction","display_name":"R-Tac0: A Rounded High-Frequency Transferable Monochrome Vision-based Tactile Sensor for Shape Reconstruction","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748408","doi":"https://doi.org/10.1109/iros60139.2025.11246144"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/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":true,"raw_author_name":"Wanlin Li","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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/A5029389083","display_name":"Pei\u2010Chun Lin","orcid":"https://orcid.org/0000-0003-0735-2693"},"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":"Pei Lin","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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/A5101549359","display_name":"Meng Wang","orcid":"https://orcid.org/0009-0000-7709-850X"},"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":"Meng Wang","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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/A5031386948","display_name":"Chenxi Xiao","orcid":"https://orcid.org/0000-0002-7819-9633"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxi Xiao","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology","institution_ids":["https://openalex.org/I30809798"]}]},{"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)"],"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/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":"Yao Su","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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/A5084328887","display_name":"Ziyuan Jiao","orcid":"https://orcid.org/0000-0003-3404-3810"},"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":"Ziyuan Jiao","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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/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":"Hangxin Liu","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI),State Key Laboratory of General Artificial Intelligence"],"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":8,"corresponding_author_ids":["https://openalex.org/A5101884755"],"corresponding_institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35052702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10400","last_page":"10407"},"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":0.553600013256073,"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":0.553600013256073,"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/T10868","display_name":"Soft Robotics and Applications","score":0.35179999470710754,"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":0.041099999099969864,"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/tactile-sensor","display_name":"Tactile sensor","score":0.6789000034332275},{"id":"https://openalex.org/keywords/monochrome","display_name":"Monochrome","score":0.600600004196167},{"id":"https://openalex.org/keywords/camouflage","display_name":"Camouflage","score":0.4471000134944916},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3912000060081482},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3896999955177307},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.385699987411499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37400001287460327},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.34439998865127563}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6789000034332275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.663100004196167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6176000237464905},{"id":"https://openalex.org/C2776754580","wikidata":"https://www.wikidata.org/wiki/Q10770146","display_name":"Monochrome","level":2,"score":0.600600004196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559499979019165},{"id":"https://openalex.org/C2776196576","wikidata":"https://www.wikidata.org/wiki/Q196113","display_name":"Camouflage","level":2,"score":0.4471000134944916},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3912000060081482},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3896999955177307},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34709998965263367},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3093999922275543},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3075000047683716},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.2825999855995178},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320327024","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1999585120","https://openalex.org/W2080317558","https://openalex.org/W2125328830","https://openalex.org/W2143629022","https://openalex.org/W2327594626","https://openalex.org/W2737380187","https://openalex.org/W2744653421","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2999770657","https://openalex.org/W3089374988","https://openalex.org/W3090215479","https://openalex.org/W3129699689","https://openalex.org/W3130589561","https://openalex.org/W3131168342","https://openalex.org/W3133069434","https://openalex.org/W3205115400","https://openalex.org/W3213517261","https://openalex.org/W4226409245","https://openalex.org/W4293597205","https://openalex.org/W4309258842","https://openalex.org/W4376605654","https://openalex.org/W4383108295","https://openalex.org/W4383108596","https://openalex.org/W4383200202","https://openalex.org/W4386473175","https://openalex.org/W4388740235","https://openalex.org/W4389692504","https://openalex.org/W4394581669","https://openalex.org/W4399304050","https://openalex.org/W4400643993","https://openalex.org/W4401413584","https://openalex.org/W4402291140","https://openalex.org/W4403386177","https://openalex.org/W4403863408","https://openalex.org/W4404851033","https://openalex.org/W4411157391","https://openalex.org/W4413918256"],"related_works":[],"abstract_inverted_index":{"Endowing":[0],"the":[1,22,38,49,96,100,129,154],"curved":[2],"surfaces":[3],"of":[4,99,137,156],"rounded":[5,26,73,102,158],"vision-based":[6,87],"tactile":[7,121],"fingers":[8],"is":[9,84],"essential":[10],"for":[11,40,76],"dexterous":[12],"robotic":[13,60,178],"manipulation,":[14],"as":[15],"they":[16],"offer":[17],"more":[18],"sufficient":[19],"contact":[20,166],"with":[21],"environment.":[23],"However,":[24],"current":[25],"designs":[27],"are":[28],"constrained":[29],"by":[30,160],"a":[31,71,85,91,133],"low":[32],"sensing":[33,88],"frequency":[34],"(30\u201360":[35],"Hz)":[36],"and":[37,62,78,114,174],"need":[39],"recalibration":[41],"when":[42],"adapting":[43],"to":[44,48,94,131,147],"new":[45,148],"sensors":[46],"due":[47],"reliance":[50],"on":[51],"multi-channel":[52],"captures,":[53],"which":[54],"hinders":[55],"their":[56],"performance":[57,163],"in":[58,171,177],"dynamic":[59,179],"tasks":[61],"large-scale":[63],"deployment.":[64],"In":[65,150],"this":[66],"work,":[67],"we":[68,152],"introduce":[69],"R-Tac0,":[70],"low-cost":[72],"VBTS":[74],"engineered":[75],"high-resolution":[77],"high-speed":[79],"perception.":[80,122],"The":[81],"key":[82],"innovation":[83],"monochrome":[86],"principle:":[89],"utilizing":[90],"black-and-white":[92],"camera":[93],"capture":[95],"reflection":[97],"properties":[98],"compound":[101],"elastomer":[103],"under":[104,164],"monochromatic":[105],"illumination.":[106],"This":[107],"single-channel":[108],"imaging":[109],"significantly":[110],"reduces":[111],"data":[112],"volume":[113],"simplifies":[115],"computational":[116],"complexity,":[117],"enabling":[118],"120":[119],"Hz":[120],"A":[123],"lightweight":[124],"neural":[125],"network":[126],"can":[127],"calibrate":[128],"sensor":[130],"achieve":[132],"depth":[134],"reconstruction":[135],"accuracy":[136],"0.169":[138],"mm":[139],"per":[140],"pixel,":[141],"while":[142],"exhibiting":[143],"surprisingly":[144],"good":[145],"transferability":[146],"sensors.":[149],"experiments,":[151],"demonstrate":[153],"advantages":[155],"R-Tac0\u2019s":[157],"design":[159],"evaluating":[161],"its":[162,168,175],"different":[165],"angles,":[167],"high-frequency":[169],"perception":[170],"slip":[172],"detection,":[173],"effectiveness":[176],"pose":[180],"estimation.":[181]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}