{"id":"https://openalex.org/W4385413260","doi":"https://doi.org/10.1109/nems57332.2023.10190881","title":"Intelligent Soft Robotic Gripper Enabled by Multimodal Sensors and Deep Learning","display_name":"Intelligent Soft Robotic Gripper Enabled by Multimodal Sensors and Deep Learning","publication_year":2023,"publication_date":"2023-05-14","ids":{"openalex":"https://openalex.org/W4385413260","doi":"https://doi.org/10.1109/nems57332.2023.10190881"},"language":"en","primary_location":{"id":"doi:10.1109/nems57332.2023.10190881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nems57332.2023.10190881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 18th International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5052030441","display_name":"Qiongfeng Shi","orcid":"https://orcid.org/0000-0002-5979-1420"},"institutions":[{"id":"https://openalex.org/I4210090971","display_name":"Southeast University","ror":"https://ror.org/00cf0ab87","country_code":"BD","type":"education","lineage":["https://openalex.org/I4210090971"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["BD","CN"],"is_corresponding":false,"raw_author_name":"Qiongfeng Shi","raw_affiliation_strings":["Southeast University,Joint International Research Laboratory of Information Display and Visualization, School of Electronic Science and Engineering,Nanjing,China","Joint International Research Laboratory of Information Display and Visualization, School of Electronic Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,Joint International Research Laboratory of Information Display and Visualization, School of Electronic Science and Engineering,Nanjing,China","institution_ids":["https://openalex.org/I4210090971"]},{"raw_affiliation_string":"Joint International Research Laboratory of Information Display and Visualization, School of Electronic Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059256953","display_name":"Zhongda Sun","orcid":"https://orcid.org/0000-0001-7365-1945"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhongda Sun","raw_affiliation_strings":["National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090307679","display_name":"Xianhao Le","orcid":"https://orcid.org/0000-0002-6084-3718"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xianhao Le","raw_affiliation_strings":["National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060103378","display_name":"Jin Xie","orcid":"https://orcid.org/0000-0003-3942-3046"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Xie","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems,Hangzhou,China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084452777","display_name":"Chengkuo Lee","orcid":"https://orcid.org/0000-0002-8886-3649"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chengkuo Lee","raw_affiliation_strings":["National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Electrical and Computer Engineering,Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19","last_page":"22"},"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":1.0,"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":1.0,"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/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/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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/grasp","display_name":"GRASP","score":0.8574491739273071},{"id":"https://openalex.org/keywords/triboelectric-effect","display_name":"Triboelectric effect","score":0.7114087343215942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.696924090385437},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6202707886695862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6029854416847229},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5618797540664673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5514132976531982},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5223070979118347},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5098056197166443},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46799156069755554},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45282822847366333},{"id":"https://openalex.org/keywords/intelligent-sensor","display_name":"Intelligent sensor","score":0.44866570830345154},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.42967402935028076},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.42740651965141296},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.41579577326774597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3204156160354614},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.2654455006122589},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.11772927641868591},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08587959408760071},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.06900021433830261}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8574491739273071},{"id":"https://openalex.org/C80640880","wikidata":"https://www.wikidata.org/wiki/Q876377","display_name":"Triboelectric effect","level":2,"score":0.7114087343215942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.696924090385437},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6202707886695862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029854416847229},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5618797540664673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5514132976531982},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5223070979118347},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5098056197166443},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46799156069755554},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45282822847366333},{"id":"https://openalex.org/C176563091","wikidata":"https://www.wikidata.org/wiki/Q669238","display_name":"Intelligent sensor","level":3,"score":0.44866570830345154},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.42967402935028076},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.42740651965141296},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.41579577326774597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3204156160354614},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.2654455006122589},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.11772927641868591},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08587959408760071},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.06900021433830261},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/nems57332.2023.10190881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nems57332.2023.10190881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 18th International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4099999964237213,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1488262856","https://openalex.org/W1983156320","https://openalex.org/W2056326110","https://openalex.org/W2114682092","https://openalex.org/W2126626010","https://openalex.org/W2177778300","https://openalex.org/W2212410734","https://openalex.org/W2280987803","https://openalex.org/W2345991074","https://openalex.org/W2466645121","https://openalex.org/W2567728595","https://openalex.org/W2805371216","https://openalex.org/W2888451080","https://openalex.org/W2901069188","https://openalex.org/W2907513606","https://openalex.org/W2907710132","https://openalex.org/W2947295154","https://openalex.org/W2987401378","https://openalex.org/W3092743927","https://openalex.org/W3094212051","https://openalex.org/W3100137668","https://openalex.org/W3133703972","https://openalex.org/W3164403436","https://openalex.org/W4315621035","https://openalex.org/W4323653529"],"related_works":["https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W4386100501","https://openalex.org/W2968390578","https://openalex.org/W3014507301","https://openalex.org/W3153919089","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W2962964599","https://openalex.org/W4322731033"],"abstract_inverted_index":{"Here":[0],"we":[1],"report":[2],"an":[3,13,56],"intelligent":[4,111],"soft":[5,112],"robotic":[6,53,113],"gripper":[7,54,114],"enabled":[8],"by":[9,42],"the":[10,22,27,34,52,68,81,110],"integration":[11],"of":[12,103],"ultrasonic":[14,28],"remote":[15],"sensor":[16,29],"and":[17,40,75],"triboelectric":[18,73],"sensors.":[19,77],"Due":[20],"to":[21,32,55,66,98],"noncontact":[23],"distance":[24],"sensing":[25],"ability,":[26],"is":[30,47,64,93,96],"used":[31,49],"find":[33],"object\u2019s":[35,69],"visual":[36],"information":[37,46,71],"including":[38],"position":[39],"height":[41],"lateral":[43],"scanning.":[44],"The":[45],"then":[48],"for":[50,115],"adjusting":[51],"appropriate":[57],"grasp":[58,62],"location,":[59],"after":[60],"which":[61,95],"operation":[63],"performed":[65],"obtain":[67],"tactile":[70,76],"through":[72],"bending":[74],"To":[78],"efficiently":[79],"analyze":[80],"multimodal":[82],"information,":[83],"a":[84,100],"deep-learning":[85],"neural":[86],"network":[87],"based":[88],"on":[89],"feature-level":[90],"data":[91],"fusion":[92],"constructed,":[94],"able":[97],"achieve":[99],"high":[101],"accuracy":[102],"99.3%":[104],"in":[105],"classifying":[106],"14":[107],"objects,":[108],"enabling":[109],"various":[116],"smart":[117],"applications.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}