{"id":"https://openalex.org/W2919065774","doi":"https://doi.org/10.1109/lra.2019.2901991","title":"Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin","display_name":"Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin","publication_year":2019,"publication_date":"2019-02-27","ids":{"openalex":"https://openalex.org/W2919065774","doi":"https://doi.org/10.1109/lra.2019.2901991","mag":"2919065774"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2901991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2901991","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/59361/2/Althoefer%20Adaptive%20update%20of%20reference%202019%20Accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031335843","display_name":"Takahiro Matsuno","orcid":"https://orcid.org/0000-0002-6976-934X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takahiro Matsuno","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6976-934X","affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4037-3306","affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"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":["Centre for Advanced Robotics @ Queen Mary, Faculty of Science & Engineering, Queen Mary University of London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1141-9996","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, Faculty of Science & Engineering, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Hirai","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6076-0237","affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031335843"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":1.3957,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.79354571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"4","issue":"2","first_page":"2212","last_page":"2219"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/capacitance","display_name":"Capacitance","score":0.7688425779342651},{"id":"https://openalex.org/keywords/proximity-sensor","display_name":"Proximity sensor","score":0.6703020930290222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.638855516910553},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6342312097549438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5719996094703674},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.5641845464706421},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.525473952293396},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.48657500743865967},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.46665263175964355},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.4598219692707062},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3809107542037964},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3017718195915222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24894407391548157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24726733565330505},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09328022599220276},{"id":"https://openalex.org/keywords/electrode","display_name":"Electrode","score":0.06505903601646423}],"concepts":[{"id":"https://openalex.org/C30066665","wikidata":"https://www.wikidata.org/wiki/Q164399","display_name":"Capacitance","level":3,"score":0.7688425779342651},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.6703020930290222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.638855516910553},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6342312097549438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5719996094703674},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.5641845464706421},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.525473952293396},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.48657500743865967},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.46665263175964355},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.4598219692707062},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3809107542037964},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3017718195915222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24894407391548157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24726733565330505},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09328022599220276},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.06505903601646423},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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":2,"locations":[{"id":"doi:10.1109/lra.2019.2901991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2901991","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/59361","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/59361","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/59361/2/Althoefer%20Adaptive%20update%20of%20reference%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/59361","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/59361","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/59361/2/Althoefer%20Adaptive%20update%20of%20reference%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2919065774.pdf"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W570381380","https://openalex.org/W1559229420","https://openalex.org/W1970495039","https://openalex.org/W2010634680","https://openalex.org/W2022813413","https://openalex.org/W2023982223","https://openalex.org/W2036649222","https://openalex.org/W2037486375","https://openalex.org/W2081909352","https://openalex.org/W2116139612","https://openalex.org/W2125724587","https://openalex.org/W2133567427","https://openalex.org/W2558828391","https://openalex.org/W2562512666","https://openalex.org/W2570286934","https://openalex.org/W2612878567","https://openalex.org/W2730442514","https://openalex.org/W2738540750","https://openalex.org/W2805615724"],"related_works":["https://openalex.org/W340201814","https://openalex.org/W2152098532","https://openalex.org/W4283740974","https://openalex.org/W4285102271","https://openalex.org/W2119638626","https://openalex.org/W4322731033","https://openalex.org/W3128324021","https://openalex.org/W3136079594","https://openalex.org/W4233135978","https://openalex.org/W2121836998"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,136,176],"sensor":[4,20,31,131],"using":[5],"conductive":[6],"fabric":[7],"that":[8,152],"can":[9,34,156],"detect":[10],"proximity":[11,44,75,103,153],"and":[12,21,45,50,66,87,101,132,140,154],"contact":[13,46,155],"by":[14,160],"measuring":[15],"the":[16,19,22,27,30,48,51,60,69,80,88,91,116,121,124,129,142,161,167],"capacitance":[17,70,92,118],"between":[18,47],"surrounding":[23,52,61],"environment.":[24,125,179],"Due":[25],"to":[26,42,84,95,98,113,119],"flexibility":[28],"of":[29,123,165],"used,":[32],"it":[33],"be":[35,85,96,157],"easily":[36],"integrated":[37],"with":[38,146],"industrial":[39],"robot":[40,49,138,168],"arms":[41],"monitor":[43],"environment":[53,62],"including":[54],"humans":[55],"for":[56],"safety":[57],"reasons.":[58],"However,":[59],"is":[63,170],"constantly":[64],"changing":[65],"significantly":[67],"affects":[68],"measurements.":[71,104],"To":[72,126],"apply":[73],"such":[74],"sensors":[76],"in":[77,106,175],"this":[78,107],"scenario,":[79],"environmental":[81],"variations":[82],"have":[83,94],"considered":[86],"influences":[89],"on":[90],"measurements":[93],"eliminated":[97],"ensure":[99],"stable":[100],"robust":[102],"Therefore,":[105],"letter,":[108],"we":[109,134],"propose":[110],"an":[111],"approach":[112],"adaptively":[114],"update":[115],"reference":[117],"eliminate":[120],"influence":[122],"experimentally":[127],"validate":[128],"proposed":[130,143,162],"approach,":[133],"developed":[135],"two-link":[137],"arm":[139,169],"embedded":[141],"sensing":[144],"technology":[145],"each":[147],"link.":[148],"Experimental":[149],"results":[150],"demonstrate":[151],"successfully":[158],"detected":[159],"sensor,":[163],"independently":[164],"whether":[166],"at":[171],"rest":[172],"or":[173],"moving":[174],"potentially":[177],"dynamic":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}