{"id":"https://openalex.org/W4391092756","doi":"https://doi.org/10.1109/lra.2024.3357030","title":"TacIPC: Intersection- and Inversion-Free FEM-Based Elastomer Simulation for Optical Tactile Sensors","display_name":"TacIPC: Intersection- and Inversion-Free FEM-Based Elastomer Simulation for Optical Tactile Sensors","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391092756","doi":"https://doi.org/10.1109/lra.2024.3357030"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3357030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357030","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5100629115","display_name":"Wenxin Du","orcid":"https://orcid.org/0009-0006-1407-2007"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Du","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0006-1407-2007","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407910","display_name":"Wenqiang Xu","orcid":"https://orcid.org/0000-0002-8648-5576"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqiang Xu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8648-5576","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062010548","display_name":"Jieji Ren","orcid":"https://orcid.org/0000-0001-6381-6830"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieji Ren","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6381-6830","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101921007","display_name":"Zhenjun Yu","orcid":"https://orcid.org/0000-0001-9975-1653"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjun Yu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9975-1653","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101470275","display_name":"Cewu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1533-8576","affiliations":[{"raw_affiliation_string":"Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.857,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.84062653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2559","last_page":"2566"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.9911999702453613,"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/finite-element-method","display_name":"Finite element method","score":0.6882110238075256},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6777012944221497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6377404928207397},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4415956437587738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40516921877861023},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3831058740615845},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22687062621116638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19696450233459473}],"concepts":[{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6882110238075256},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6777012944221497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377404928207397},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4415956437587738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40516921877861023},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3831058740615845},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22687062621116638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19696450233459473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3357030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357030","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/G3429353868","display_name":null,"funder_award_id":"21511101200","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"}],"funders":[{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W1901129140","https://openalex.org/W1992266968","https://openalex.org/W2158782408","https://openalex.org/W2167340365","https://openalex.org/W2235901111","https://openalex.org/W2775635818","https://openalex.org/W2972319721","https://openalex.org/W2977371611","https://openalex.org/W3020856558","https://openalex.org/W3048889784","https://openalex.org/W3099447764","https://openalex.org/W3112669067","https://openalex.org/W3128582681","https://openalex.org/W3129699689","https://openalex.org/W3198417399","https://openalex.org/W3206949798","https://openalex.org/W3207855543","https://openalex.org/W4316661152","https://openalex.org/W4386071541","https://openalex.org/W4387656290","https://openalex.org/W6634138237","https://openalex.org/W6800004206","https://openalex.org/W6855396056"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Tactile":[0],"perception":[1],"stands":[2],"as":[3],"a":[4,39,89,93],"critical":[5],"sensory":[6],"modality":[7],"for":[8,26],"human":[9],"interaction":[10],"with":[11,82,147],"the":[12,50,67,74,138],"environment.":[13],"Among":[14],"various":[15],"tactile":[16,29],"sensor":[17],"techniques,":[18],"optical":[19],"sensor-based":[20],"approaches":[21],"have":[22],"gained":[23],"traction,":[24],"notably":[25],"producing":[27],"high-resolution":[28],"images.":[30],"This":[31],"letter":[32],"explores":[33],"gel":[34],"elastomer":[35],"deformation":[36],"simulation":[37,62],"through":[38],"physics-based":[40],"approach.":[41],"While":[42],"previous":[43],"works":[44],"in":[45,60,76,136],"this":[46],"direction":[47],"usually":[48],"adopt":[49,66],"explicit":[51],"material":[52],"point":[53],"method":[54,70,142],"(MPM),":[55],"which":[56,97],"has":[57],"certain":[58],"limitations":[59],"force":[61],"and":[63,72,79,107,126],"rendering,":[64],"we":[65,91,113],"finite":[68],"element":[69,80],"(FEM)":[71],"address":[73],"challenges":[75],"mesh":[77],"penetration":[78],"inversion":[81],"incremental":[83],"potential":[84],"contact":[85],"(IPC)":[86],"method.":[87],"As":[88],"result,":[90],"present":[92],"simulator":[94],"named":[95],"TacIPC,":[96,112],"can":[98,143],"ensure":[99],"numerically":[100],"stable":[101],"simulations":[102],"while":[103],"accommodating":[104],"direct":[105],"rendering":[106],"friction":[108],"modeling.":[109],"To":[110],"evaluate":[111],"conduct":[114],"four":[115],"tasks:":[116],"pseudo-image":[117],"quality":[118],"assessment,":[119],"marker":[120],"displacement":[121],"prediction,":[122,125],"slip-induced":[123],"rotation":[124],"deformed":[127],"geometry":[128],"estimation.":[129],"These":[130],"tasks":[131],"show":[132],"its":[133],"superior":[134],"efficacy":[135],"reducing":[137],"sim-to-real":[139],"gap.":[140],"Our":[141],"also":[144],"seamlessly":[145],"integrate":[146],"existing":[148],"simulators.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}