{"id":"https://openalex.org/W3132215936","doi":"https://doi.org/10.1109/lra.2021.3061399","title":"Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation","display_name":"Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3132215936","doi":"https://doi.org/10.1109/lra.2021.3061399","mag":"3132215936"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061399","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09361345.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09361345.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037510570","display_name":"Thomas George Thuruthel","orcid":"https://orcid.org/0000-0003-0571-1672"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":true,"raw_author_name":"Thomas George Thuruthel","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063889062","display_name":"Antonia Georgopoulou","orcid":"https://orcid.org/0000-0002-9892-250X"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I71824836","display_name":"Swiss Federal Laboratories for Materials Science and Technology","ror":"https://ror.org/02x681a42","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I71824836"]}],"countries":["BE","CH"],"is_corresponding":false,"raw_author_name":"Antonia Georgopoulou","raw_affiliation_strings":["Department of Functional Materials, Empa \u2013 Swiss Federal Laboratories for Materials Science and Technology, D\u00fcbendorf, Switzerland","Vrije Universiteit Brussel (VUB), and Flanders Make Pleinlaan 2, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Functional Materials, Empa \u2013 Swiss Federal Laboratories for Materials Science and Technology, D\u00fcbendorf, Switzerland","institution_ids":["https://openalex.org/I71824836"]},{"raw_affiliation_string":"Vrije Universiteit Brussel (VUB), and Flanders Make Pleinlaan 2, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542","https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006553123","display_name":"Frank Clemens","orcid":"https://orcid.org/0000-0001-8253-170X"},"institutions":[{"id":"https://openalex.org/I71824836","display_name":"Swiss Federal Laboratories for Materials Science and Technology","ror":"https://ror.org/02x681a42","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I71824836"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Frank Clemens","raw_affiliation_strings":["Department of Functional Materials, Empa \u2013 Swiss Federal Laboratories for Materials Science and Technology, D\u00fcbendorf, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Functional Materials, Empa \u2013 Swiss Federal Laboratories for Materials Science and Technology, D\u00fcbendorf, Switzerland","institution_ids":["https://openalex.org/I71824836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037510570"],"corresponding_institution_ids":["https://openalex.org/I4210096386"],"apc_list":null,"apc_paid":null,"fwci":2.2076,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.87131942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2099","last_page":"2105"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9948999881744385,"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":0.9901000261306763,"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/disjoint-sets","display_name":"Disjoint sets","score":0.737922191619873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5583363771438599},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5138228535652161},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37381020188331604},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.360964298248291},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23072859644889832},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07000026106834412}],"concepts":[{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.737922191619873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5583363771438599},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5138228535652161},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37381020188331604},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.360964298248291},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23072859644889832},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07000026106834412}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/lra.2021.3061399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061399","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09361345.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:dora:empa_25004","is_oa":false,"landing_page_url":"https://www.dora.lib4ri.ch/empa/islandora/object/empa%3A25004","pdf_url":null,"source":{"id":"https://openalex.org/S4306401298","display_name":"DORA Empa (Swiss Federal Laboratories for Materials Science and Technology (Empa))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71824836","host_organization_name":"Swiss Federal Laboratories for Materials Science and Technology","host_organization_lineage":["https://openalex.org/I71824836"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10159258","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10159258/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE Robotics and Automation Letters , 6  (2)   pp. 2099-2105.   (2021)      ","raw_type":"Article"},{"id":"pmh:oai:generic.eprints.org:1274719","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1274719/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},{"id":"pmh:oai:infoscience.epfl.ch:295780","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/295780","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/318043","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/318043","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.17863/cam.65158","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.65158","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3061399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061399","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09361345.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6420568034","display_name":null,"funder_award_id":"828818","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3132215936.pdf","grobid_xml":"https://content.openalex.org/works/W3132215936.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1815076433","https://openalex.org/W1984831423","https://openalex.org/W2008434880","https://openalex.org/W2059772445","https://openalex.org/W2063954622","https://openalex.org/W2092939357","https://openalex.org/W2122682172","https://openalex.org/W2133838039","https://openalex.org/W2151386142","https://openalex.org/W2156504490","https://openalex.org/W2257692719","https://openalex.org/W2285847257","https://openalex.org/W2515175659","https://openalex.org/W2784238521","https://openalex.org/W2883279767","https://openalex.org/W2913446864","https://openalex.org/W2947710364","https://openalex.org/W2965921043","https://openalex.org/W2969028243","https://openalex.org/W2997289456","https://openalex.org/W3002768791","https://openalex.org/W3004757868","https://openalex.org/W3018423233","https://openalex.org/W3019626093","https://openalex.org/W3027696609","https://openalex.org/W3036251821","https://openalex.org/W3037458076","https://openalex.org/W6638545294","https://openalex.org/W6682686508","https://openalex.org/W6773925231","https://openalex.org/W6779906602"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4256429076","https://openalex.org/W1971174658","https://openalex.org/W2099195351","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2348092930","https://openalex.org/W2012063272"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,142],"sensors":[2,31,54,85,119,173],"have":[3],"been":[4],"limited":[5],"in":[6,104],"their":[7,11,124],"applications":[8],"due":[9],"to":[10,24,55,76,86,97,115,122,176],"highly":[12],"nonlinear":[13,169],"time":[14,170],"variant":[15,171],"behavior.":[16],"Current":[17],"studies":[18],"are":[19],"either":[20],"looking":[21],"into":[22,33],"techniques":[23],"improve":[25],"the":[26,39,65,89,100,179],"mechano-electrical":[27],"properties":[28],"of":[29,41,64,80,93,128,168,182],"these":[30,117],"or":[32],"modelling":[34],"algorithms":[35],"that":[36,162],"account":[37],"for":[38,49,88,140],"history":[40],"each":[42,63,129],"sensor.":[43],"Here,":[44],"we":[45],"present":[46],"a":[47,78,94,105,109,137,151,166,183],"method":[48],"combining":[50],"multi-material":[51],"soft":[52,141,156],"strain":[53,67,84,102,157,172,180],"obtain":[56,99],"equivalent":[57],"higher":[58],"quality":[59],"sensors;":[60],"better":[61],"than":[62],"individual":[66],"sensors.":[68,143,158],"The":[69,144],"core":[70],"idea":[71],"behind":[72],"this":[73],"work":[74],"is":[75,147,174],"use":[77],"combination":[79,167],"redundant":[81],"and":[82,120,126],"disjoint":[83],"compensate":[87],"time-variant":[90],"hidden":[91],"states":[92],"soft-bodied":[95],"system,":[96],"finally":[98],"true":[101],"state":[103,181],"static":[106,163],"manner":[107],"using":[108],"learning-based":[110],"approach.":[111],"We":[112],"provide":[113],"methods":[114],"develop":[116],"variable":[118],"metrics":[121],"estimate":[123,178],"dissimilarity":[125],"efficacy":[127],"sensor":[130],"combinations,":[131],"which":[132],"can":[133],"double":[134],"down":[135],"as":[136],"benchmarking":[138],"tool":[139],"proposed":[145],"approach":[146],"experimentally":[148],"validated":[149],"on":[150],"pneumatic":[152],"actuator":[153],"with":[154],"embedded":[155],"Our":[159],"results":[160],"show":[161],"data":[164],"from":[165],"sufficient":[175],"accurately":[177],"system.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}