{"id":"https://openalex.org/W4385975773","doi":"https://doi.org/10.1109/lra.2023.3306670","title":"TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection","display_name":"TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385975773","doi":"https://doi.org/10.1109/lra.2023.3306670"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3306670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306670","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101464368","display_name":"Shixin Zhang","orcid":"https://orcid.org/0000-0002-7542-310X"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shixin Zhang","raw_affiliation_strings":["School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China","State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China","institution_ids":["https://openalex.org/I3125743391"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100660851","display_name":"Yuhao Sun","orcid":"https://orcid.org/0009-0005-4693-8824"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhao Sun","raw_affiliation_strings":["Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma&#x0027;anshan, China"],"affiliations":[{"raw_affiliation_string":"Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma&#x0027;anshan, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101915477","display_name":"Jianhua Shan","orcid":"https://orcid.org/0000-0002-7710-1729"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Shan","raw_affiliation_strings":["Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma&#x0027;anshan, China"],"affiliations":[{"raw_affiliation_string":"Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma&#x0027;anshan, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036232035","display_name":"Zixi Chen","orcid":"https://orcid.org/0000-0002-2839-924X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zixi Chen","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004937333","display_name":"Yiyong Yang","orcid":"https://orcid.org/0000-0003-1536-8142"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyong Yang","raw_affiliation_strings":["School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029662229","display_name":"Bin Fang","orcid":"https://orcid.org/0000-0002-9149-7336"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Fang","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology, Department of Computer Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101464368"],"corresponding_institution_ids":["https://openalex.org/I3125743391","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":6.3345,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.97407888,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"8","issue":"10","first_page":"6307","last_page":"6314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9984999895095825,"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":0.9861000180244446,"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/computer-vision","display_name":"Computer vision","score":0.7110240459442139},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6779172420501709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767044067382812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6720479726791382},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.650096595287323},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5200745463371277},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.4465388059616089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2820621430873871},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.17269471287727356},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1296539008617401}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7110240459442139},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6779172420501709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767044067382812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6720479726791382},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.650096595287323},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5200745463371277},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.4465388059616089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2820621430873871},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.17269471287727356},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1296539008617401},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3306670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306670","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2388429035","display_name":null,"funder_award_id":"U22B2042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8658252860","display_name":null,"funder_award_id":"62173197","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":32,"referenced_works":["https://openalex.org/W2169364846","https://openalex.org/W2410441722","https://openalex.org/W2569244399","https://openalex.org/W2607172324","https://openalex.org/W2775635818","https://openalex.org/W2804941773","https://openalex.org/W2810873357","https://openalex.org/W2909277105","https://openalex.org/W2962688712","https://openalex.org/W2962983231","https://openalex.org/W2963915174","https://openalex.org/W2969180157","https://openalex.org/W2972394921","https://openalex.org/W3006804090","https://openalex.org/W3011275252","https://openalex.org/W3044483011","https://openalex.org/W3098436915","https://openalex.org/W3118052346","https://openalex.org/W3118245039","https://openalex.org/W3128582681","https://openalex.org/W3131035944","https://openalex.org/W3133344428","https://openalex.org/W3182705783","https://openalex.org/W3182813509","https://openalex.org/W3207855543","https://openalex.org/W4285102140","https://openalex.org/W4285123487","https://openalex.org/W4285232917","https://openalex.org/W4309258842","https://openalex.org/W4313546642","https://openalex.org/W4316661152","https://openalex.org/W4385756471"],"related_works":["https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1489808091","https://openalex.org/W2012531322","https://openalex.org/W2402761219","https://openalex.org/W1895481218","https://openalex.org/W3163518500","https://openalex.org/W2785900585","https://openalex.org/W2025677844","https://openalex.org/W2150609833"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,139],"vision-based":[4],"tactile":[5,25,54,78,93],"sensor":[6,19],"named":[7],"TIRgel,":[8],"leveraging":[9],"visual":[10,23,91],"integration":[11,160],"to":[12,52,143,157],"simplify":[13],"the":[14,18,33,49,59,71,87,96,100,104,107,120,125,129,144,155],"sensing":[15,60],"system.":[16],"First,":[17],"achieves":[20],"conversion":[21],"of":[22,58,90,131],"and":[24,75,92,103,118,137],"modality":[26],"via":[27,64,134],"focus":[28],"adjustment.":[29],"Under":[30,39],"far-focus":[31],"imaging,":[32,41],"camera":[34],"can":[35,73,127],"observe":[36],"external":[37],"environments;":[38],"near-focus":[40],"we":[42],"perform":[43],"total":[44],"internal":[45,135],"reflection":[46],"(TIR)":[47],"within":[48],"lenticular":[50],"elastomer":[51],"visualize":[53],"features.":[55],"The":[56],"effectiveness":[57],"mechanism":[61],"is":[62],"verified":[63],"MPM":[65],"(Material":[66],"Point":[67],"Method)":[68],"simulation.":[69],"Second,":[70],"TIRgel":[72,126],"capture":[74],"extract":[76],"micron-scale":[77],"details":[79],"based":[80],"on":[81],"luminosity":[82,97],"information.":[83,110],"Tactile":[84],"imaging":[85],"has":[86,138,154],"natural":[88],"fusion":[89,113],"information,":[94],"where":[95],"boundary":[98],"reflects":[99],"texture":[101],"feature,":[102],"background":[105],"contains":[106],"object's":[108],"appearance":[109],"Inherent":[111],"data":[112,116],"simplifies":[114],"multimodal":[115],"acquisition":[117],"reduces":[119],"information":[121],"processing":[122],"difficulty.":[123],"Finally,":[124],"resist":[128],"interference":[130],"ambient":[132],"brightness":[133],"illumination":[136],"higher":[140],"adaptive":[141],"capacity":[142],"environment":[145],"than":[146],"unidirectional":[147],"perspective":[148],"VBTSs.":[149],"We":[150],"believe":[151],"that":[152],"it":[153],"potential":[156],"provide":[158],"visual-tactile":[159],"for":[161],"robot":[162],"operation.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
