{"id":"https://openalex.org/W7128476520","doi":"https://doi.org/10.1109/lra.2026.3662618","title":"FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation","display_name":"FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128476520","doi":"https://doi.org/10.1109/lra.2026.3662618"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3662618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662618","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2506.18960","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007214233","display_name":"Siqi Shang","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Siqi Shang","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0009-0002-0414-7424","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075135654","display_name":"Mingyo Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyo Seo","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-0966-0462","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101346164","display_name":"Yuke Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958726","display_name":"Lillian Chin","orcid":"https://orcid.org/0000-0003-4083-5275"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lillian Chin","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-4083-5275","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007214233"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27052115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4473","last_page":"4480"},"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":0.7006999850273132,"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":0.7006999850273132,"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":0.17020000517368317,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.08269999921321869,"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/grippers","display_name":"Grippers","score":0.8773000240325928},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8263000249862671},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7681000232696533},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7103000283241272},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5922999978065491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4959000051021576},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.42149999737739563},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.3950999975204468}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8773000240325928},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8263000249862671},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7681000232696533},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7103000283241272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6247000098228455},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5922999978065491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5706999897956848},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5425000190734863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4959000051021576},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.42149999737739563},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.3950999975204468},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.36660000681877136},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.3564000129699707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33320000767707825},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2816999852657318},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27469998598098755},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2721000015735626},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26100000739097595},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2605000138282776}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3662618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662618","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:arXiv.org:2506.18960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2506.18960","pdf_url":"https://arxiv.org/pdf/2506.18960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2506.18960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2506.18960","pdf_url":"https://arxiv.org/pdf/2506.18960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1261399355","display_name":null,"funder_award_id":"N00014-24-1-2550","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Handling":[0],"fragile":[1],"objects":[2,66],"remains":[3],"a":[4,96,127],"major":[5],"challenge":[6],"for":[7,130],"robotic":[8],"manipulation.":[9,132],"Tactile":[10],"sensing":[11,39],"and":[12,54,84,102,107,113],"soft":[13],"robotics":[14],"can":[15,94],"improve":[16],"delicate":[17,131],"object":[18],"handling,":[19],"but":[20],"typically":[21],"involve":[22],"high":[23],"integration":[24],"complexity":[25],"or":[26],"slow":[27],"response":[28],"times.":[29],"We":[30,70],"address":[31],"these":[32],"issues":[33],"through":[34],"FORTE,":[35],"an":[36],"easy-to-fabricate":[37],"tactile":[38],"system":[40],"comprised":[41],"of":[42,91,99],"3D-printed":[43],"fin-ray":[44],"grippers":[45],"with":[46,110],"internal":[47],"air":[48],"channels.":[49],"FORTE":[50,93],"provides":[51],"low-latency":[52],"force":[53,63],"slip":[55,86,119],"feedback,":[56],"enabling":[57],"us":[58],"to":[59,64],"apply":[60],"just":[61],"enough":[62],"grasp":[65,95],"without":[67],"damaging":[68],"them.":[69],"accurately":[71],"estimate":[72],"grasping":[73],"forces":[74],"from":[75],"0\u20138":[76],"N":[77],"<inline-formula":[78],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[79,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[80],"notation=\"LaTeX\">$\\pm$</tex-math></inline-formula>":[81],"0.2":[82],"N,":[83],"detect":[85],"events":[87],"within":[88],"100":[89],"ms":[90],"occurring.":[92],"wide":[97],"range":[98],"slippery,":[100],"fragile,":[101],"deformable":[103],"objects,":[104],"including":[105],"raspberries":[106],"potato":[108],"chips":[109],"92%":[111],"success":[112],"achieves":[114],"93%":[115],"accuracy":[116],"in":[117],"detecting":[118],"events.":[120],"These":[121],"results":[122],"highlight":[123],"FORTE's":[124],"potential":[125],"as":[126],"robust":[128],"solution":[129],"<uri":[133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://merge-lab.github.io/FORTE/</uri>":[135]},"counts_by_year":[],"updated_date":"2026-02-27T14:28:36.762950","created_date":"2026-02-11T00:00:00"}
