{"id":"https://openalex.org/W4385569531","doi":"https://doi.org/10.1109/lra.2023.3302191","title":"GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching","display_name":"GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching","publication_year":2023,"publication_date":"2023-08-04","ids":{"openalex":"https://openalex.org/W4385569531","doi":"https://doi.org/10.1109/lra.2023.3302191"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3302191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3302191","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://kclpure.kcl.ac.uk/ws/files/224612643/23_0719_02_MS.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088248842","display_name":"Zhonglin Lin","orcid":"https://orcid.org/0000-0003-2462-6721"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhonglin Lin","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0003-2462-6721","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065954806","display_name":"Jiaquan Zhuang","orcid":"https://orcid.org/0000-0002-6700-1329"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaquan Zhuang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0002-6700-1329","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035616563","display_name":"Yufeng Li","orcid":"https://orcid.org/0009-0006-9460-8288"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0009-0006-9460-8288","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021993714","display_name":"Xianyu Wu","orcid":"https://orcid.org/0000-0001-6005-7058"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianyu Wu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0001-6005-7058","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012646628","display_name":"Shan Luo","orcid":"https://orcid.org/0000-0003-4760-0372"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shan Luo","raw_affiliation_strings":["Department of Engineering, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4760-0372","affiliations":[{"raw_affiliation_string":"Department of Engineering, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023533204","display_name":"Daniel Fernandes Gomes","orcid":"https://orcid.org/0000-0001-8619-4966"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Fernandes Gomes","raw_affiliation_strings":["Department of Engineering, King's College London, London, U.K","SmARTLab, Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8619-4966","affiliations":[{"raw_affiliation_string":"Department of Engineering, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896"]},{"raw_affiliation_string":"SmARTLab, Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047781906","display_name":"Feng Huang","orcid":"https://orcid.org/0000-0003-4652-4312"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Huang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0003-4652-4312","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101975548","display_name":"Yang Zheng","orcid":"https://orcid.org/0009-0004-2625-4890"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China"],"raw_orcid":"https://orcid.org/0009-0004-2625-4890","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5088248842"],"corresponding_institution_ids":["https://openalex.org/I80947539"],"apc_list":null,"apc_paid":null,"fwci":3.4176,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.92983339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"9","first_page":"5982","last_page":"5989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987999796867371,"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":0.9976999759674072,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/image-stitching","display_name":"Image stitching","score":0.8739429712295532},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8119074106216431},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7855587005615234},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6904618740081787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100463271141052},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.5364435911178589},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.496467649936676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3022313714027405}],"concepts":[{"id":"https://openalex.org/C29081049","wikidata":"https://www.wikidata.org/wiki/Q1364242","display_name":"Image stitching","level":2,"score":0.8739429712295532},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8119074106216431},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7855587005615234},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6904618740081787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100463271141052},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.5364435911178589},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.496467649936676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3022313714027405},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3302191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3302191","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:kclpure.kcl.ac.uk:openaire/83277cd9-8cf6-4664-b4f9-1f64d747eb6d","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/83277cd9-8cf6-4664-b4f9-1f64d747eb6d","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/224612643/23_0719_02_MS.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lin, Z, Gomes, D & Luo, S 2023, 'GelFinger: A Novel Visual-Tactile Sensor with Multi-Angle Tactile Image Stitching', IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5982-5989. https://doi.org/10.1109/LRA.2023.3302191","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/83277cd9-8cf6-4664-b4f9-1f64d747eb6d","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/83277cd9-8cf6-4664-b4f9-1f64d747eb6d","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/224612643/23_0719_02_MS.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lin, Z, Gomes, D & Luo, S 2023, 'GelFinger: A Novel Visual-Tactile Sensor with Multi-Angle Tactile Image Stitching', IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5982-5989. https://doi.org/10.1109/LRA.2023.3302191","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6499999761581421,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G105105827","display_name":"ViTac: Visual-Tactile Synergy for Handling Flexible Materials","funder_award_id":"EP/T033517/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2496328589","display_name":null,"funder_award_id":"2021J05113","funder_id":"https://openalex.org/F4320321878","funder_display_name":"Natural Science Foundation of Fujian Province"},{"id":"https://openalex.org/G5213341679","display_name":null,"funder_award_id":"EP/T033517/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320321878","display_name":"Natural Science Foundation of Fujian Province","ror":null},{"id":"https://openalex.org/F4320325408","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385569531.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2081697593","https://openalex.org/W2125959037","https://openalex.org/W2169364846","https://openalex.org/W2171130677","https://openalex.org/W2421020186","https://openalex.org/W2607172324","https://openalex.org/W2742785019","https://openalex.org/W2743209907","https://openalex.org/W2775635818","https://openalex.org/W2790778568","https://openalex.org/W2900474250","https://openalex.org/W3008303301","https://openalex.org/W3090215479","https://openalex.org/W3100818121","https://openalex.org/W3104208381","https://openalex.org/W3109509490","https://openalex.org/W3129699689","https://openalex.org/W3141029737","https://openalex.org/W3173780596","https://openalex.org/W3213517261","https://openalex.org/W4226409245","https://openalex.org/W4249418251","https://openalex.org/W4285232917","https://openalex.org/W4322627950","https://openalex.org/W6792529104"],"related_works":["https://openalex.org/W2035528444","https://openalex.org/W176621693","https://openalex.org/W4313400571","https://openalex.org/W2071240554","https://openalex.org/W296527428","https://openalex.org/W2905778683","https://openalex.org/W1970924103","https://openalex.org/W2003909330","https://openalex.org/W2890988828","https://openalex.org/W2955608365"],"abstract_inverted_index":{"Visual-tactile":[0],"sensors":[1,23],"that":[2,50,74,160],"use":[3,122],"a":[4,11,25,44,87,130],"camera":[5,81,96,119],"to":[6,34,98,101,128,151,172],"capture":[7,102],"the":[8,53,77,80,84,92,95,103,107,113,134,138,141,161,170],"deformation":[9],"of":[10,79,86,106,133,140,181],"soft":[12],"gel":[13],"layer":[14],"have":[15,24],"become":[16],"popular":[17],"in":[18,144,175],"recent":[19],"years.":[20],"However,":[21],"these":[22],"limited":[26],"receptive":[27],"field,":[28],"which":[29],"can":[30,164],"hinder":[31],"their":[32],"ability":[33],"perceive":[35],"tactile":[36,104,114],"information":[37],"effectively.":[38],"In":[39],"this":[40],"letter,":[41],"we":[42,121],"propose":[43],"novel":[45],"visual-tactile":[46],"sensor":[47,66,143,163],"named":[48],"GelFinger":[49,65,142],"closely":[51],"resembles":[52],"human":[54],"finger":[55],"and":[56,83,168],"is":[57,67],"well-suited":[58],"for":[59,76],"detecting":[60,176],"various":[61],"complex":[62],"surfaces.":[63],"The":[64],"equipped":[68],"with":[69],"an":[70,123],"embedded":[71],"miniature":[72],"motor":[73],"allows":[75],"adaptation":[78],"pose":[82],"scanning":[85],"large":[88,146],"contact":[89,108],"area.":[90,109],"During":[91],"detection":[93],"process,":[94],"rotates":[97],"multiple":[99],"angles":[100],"image":[105,125],"To":[110],"stitch":[111],"together":[112],"images":[115],"obtained":[116],"at":[117],"different":[118],"poses,":[120],"As-Projective-As-Possible":[124],"stitching":[126],"algorithm":[127],"form":[129],"global":[131],"view":[132],"contact.":[135],"We":[136],"demonstrate":[137],"effectiveness":[139],"assessing":[145],"surfaces":[147,180],"by":[148],"using":[149],"it":[150],"reconstruct":[152],"curved":[153,179],"crack":[154],"outlines.":[155],"Comparative":[156],"experimental":[157],"results":[158],"show":[159],"proposed":[162],"effectively":[165],"detect":[166],"cracks":[167],"has":[169],"potential":[171],"assist":[173],"humans":[174],"defects":[177],"on":[178],"infrastructure":[182],"such":[183],"as":[184],"pipelines.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}