{"id":"https://openalex.org/W4415821738","doi":"https://doi.org/10.1109/ro-man63969.2025.11217823","title":"Advanced AI-Based Slip Detection on an ESP32 for Bionic Grippers","display_name":"Advanced AI-Based Slip Detection on an ESP32 for Bionic Grippers","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415821738","doi":"https://doi.org/10.1109/ro-man63969.2025.11217823"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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/A5062519610","display_name":"Mohammad Haziq Khan","orcid":"https://orcid.org/0009-0009-6491-9220"},"institutions":[{"id":"https://openalex.org/I57589565","display_name":"Reutlingen University","ror":"https://ror.org/00q644y50","country_code":"DE","type":"education","lineage":["https://openalex.org/I57589565"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammad Haziq Khan","raw_affiliation_strings":["Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762","institution_ids":["https://openalex.org/I57589565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029480508","display_name":"Mario Radke","orcid":"https://orcid.org/0009-0007-4823-9626"},"institutions":[{"id":"https://openalex.org/I4210127983","display_name":"Kyushu International University","ror":"https://ror.org/02s22e816","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210127983"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mario Radke","raw_affiliation_strings":["Yahata GmbH,Department of Research & Development,Starzach,Germany,72181"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yahata GmbH,Department of Research & Development,Starzach,Germany,72181","institution_ids":["https://openalex.org/I4210127983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060300232","display_name":"Mina Hanna","orcid":"https://orcid.org/0000-0002-7759-5802"},"institutions":[{"id":"https://openalex.org/I57589565","display_name":"Reutlingen University","ror":"https://ror.org/00q644y50","country_code":"DE","type":"education","lineage":["https://openalex.org/I57589565"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majd Hanna","raw_affiliation_strings":["Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762","institution_ids":["https://openalex.org/I57589565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031335958","display_name":"Michael Danner","orcid":"https://orcid.org/0000-0002-8652-6905"},"institutions":[{"id":"https://openalex.org/I4210141069","display_name":"Bochum University of Applied Sciences","ror":"https://ror.org/04x02q560","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210141069"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Danner","raw_affiliation_strings":["Bochum University of Applied Science,Faculty of Electrical Engineering and Computer Science,Heiligenhaus,Germany,42579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bochum University of Applied Science,Faculty of Electrical Engineering and Computer Science,Heiligenhaus,Germany,42579","institution_ids":["https://openalex.org/I4210141069"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100599492","display_name":"Hongbing Liu","orcid":"https://orcid.org/0000-0002-4839-6054"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbing Liu","raw_affiliation_strings":["Shanghai University of Engineering Science,School of Materials Science and Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science,School of Materials Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051218329","display_name":"Matthias R\u00e4tsch","orcid":"https://orcid.org/0000-0002-8254-8293"},"institutions":[{"id":"https://openalex.org/I57589565","display_name":"Reutlingen University","ror":"https://ror.org/00q644y50","country_code":"DE","type":"education","lineage":["https://openalex.org/I57589565"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias R\u00e4tsch","raw_affiliation_strings":["Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Reutlingen University,Faculty of Engineering,Reutlingen,Germany,72762","institution_ids":["https://openalex.org/I57589565"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43830321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1380","last_page":"1385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.438400000333786,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.438400000333786,"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":0.19869999587535858,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.10869999974966049,"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":0.8623999953269958},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.758400022983551},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4749000072479248},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4343999922275543},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.38609999418258667},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.36160001158714294},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.3488999903202057}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8623999953269958},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.758400022983551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584999918937683},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4749000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4650000035762787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.38609999418258667},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.36160001158714294},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3488999903202057},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3441999852657318},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3149999976158142},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3077000081539154},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.2777999937534332},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.27639999985694885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2711000144481659},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.26440000534057617}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.reutlingen-university.de:5919","is_oa":false,"landing_page_url":"https://publikationen.reutlingen-university.de/frontdoor/index/index/docId/5919","pdf_url":null,"source":{"id":"https://openalex.org/S4306400499","display_name":"Reutlingen University Academic Bibliography (Reutlingen University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I57589565","host_organization_name":"Reutlingen University","host_organization_lineage":["https://openalex.org/I57589565"],"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":"conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322835","display_name":"Ministry of Economic Affairs","ror":"https://ror.org/042ge0913"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1774657277","https://openalex.org/W2169162190","https://openalex.org/W2518171088","https://openalex.org/W2738266212","https://openalex.org/W2743209907","https://openalex.org/W2837391606","https://openalex.org/W2890990422","https://openalex.org/W2892010946","https://openalex.org/W2963915174","https://openalex.org/W3016926102","https://openalex.org/W4288771028","https://openalex.org/W4362496314","https://openalex.org/W4385347006","https://openalex.org/W4385488487","https://openalex.org/W4388726434","https://openalex.org/W4396713574","https://openalex.org/W4407184960"],"related_works":[],"abstract_inverted_index":{"Slip":[0],"detection":[1,20,47,92,121],"is":[2,60],"a":[3,63,71],"critical":[4],"aspect":[5],"of":[6,14],"robotic":[7,15,35,67,73,101,126],"manipulation,":[8],"enhancing":[9],"the":[10,96],"stability":[11],"and":[12,33,116,124],"dexterity":[13],"grasping":[16,102],"systems.":[17,127],"Conventional":[18],"slip":[19,46,91,120],"approaches":[21],"often":[22],"rely":[23],"on":[24,62,70],"computationally":[25],"intensive":[26],"hardware,":[27],"limiting":[28],"their":[29],"applicability":[30],"in":[31,93,122],"lightweight":[32,106],"mobile":[34,123],"platforms.":[36],"In":[37],"this":[38],"work,":[39],"we":[40],"present":[41],"an":[42,49,113],"edge-computing":[43],"solution":[44,88,118],"for":[45,99,119],"using":[48,77],"ESP32":[50],"microcontroller,":[51],"enabling":[52],"on-device":[53],"inference":[54],"without":[55],"external":[56],"dependencies.The":[57],"developed":[58],"system":[59],"implemented":[61],"Fin":[64],"Ray-inspired":[65],"soft":[66],"gripper,":[68],"mounted":[69],"UR3":[72],"arm.":[74],"Experimental":[75],"validation":[76],"diverse":[78],"objects":[79],"with":[80,95],"varying":[81],"material":[82],"properties":[83],"demonstrates":[84],"that":[85],"our":[86,109],"ESP32-based":[87],"achieves":[89],"reliable":[90],"real-time,":[94],"responsiveness":[97],"required":[98],"dynamic":[100],"applications.":[103],"By":[104],"leveraging":[105],"AI":[107],"models,":[108],"proposed":[110],"method":[111],"provides":[112],"efficient,":[114],"cost-effective":[115],"scalable":[117],"stand-alone":[125]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-03T00:00:00"}