{"id":"https://openalex.org/W2055431535","doi":"https://doi.org/10.1109/robio.2011.6181448","title":"Development of shear sensing system for a three-finger robot hand","display_name":"Development of shear sensing system for a three-finger robot hand","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2055431535","doi":"https://doi.org/10.1109/robio.2011.6181448","mag":"2055431535"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5109151967","display_name":"Yu-Tse Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yu-Tse Lai","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan","National Taiwan University (NTU) Taipei Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"National Taiwan University (NTU) Taipei Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760286","display_name":"Yung\u2010Ming Chen","orcid":"https://orcid.org/0000-0002-9241-1258"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yung-Ming Chen","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan","National Taiwan University (NTU) Taipei Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"National Taiwan University (NTU) Taipei Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011188302","display_name":"Chun-Ting Chen","orcid":"https://orcid.org/0000-0003-2208-2927"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Ting Chen","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan","National Taiwan University (NTU) Taipei Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"National Taiwan University (NTU) Taipei Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038059850","display_name":"Yao\u2010Joe Yang","orcid":"https://orcid.org/0000-0003-3253-0500"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yao-Joe Yang","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan","National Taiwan University (NTU) Taipei Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"National Taiwan University (NTU) Taipei Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109151967"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10622049,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":null,"first_page":"1183","last_page":"1187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9907000064849854,"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":0.9901999831199646,"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/pid-controller","display_name":"PID controller","score":0.6232295036315918},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.618091344833374},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.5884954333305359},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5384587645530701},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5070388317108154},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4931294620037079},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47920188307762146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46472010016441345},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.44073769450187683},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43717411160469055},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.43669992685317993},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4135759174823761},{"id":"https://openalex.org/keywords/data-acquisition","display_name":"Data acquisition","score":0.4111039638519287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4034560024738312},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3463778495788574},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3128018081188202},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16789788007736206},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10999494791030884},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10201969742774963}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6232295036315918},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.618091344833374},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.5884954333305359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5384587645530701},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5070388317108154},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4931294620037079},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47920188307762146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46472010016441345},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.44073769450187683},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43717411160469055},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.43669992685317993},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4135759174823761},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.4111039638519287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4034560024738312},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3463778495788574},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3128018081188202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16789788007736206},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10999494791030884},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10201969742774963},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1965961478","https://openalex.org/W1967136547","https://openalex.org/W1971333895","https://openalex.org/W2016958754","https://openalex.org/W2021673896","https://openalex.org/W2059402478","https://openalex.org/W2078038590","https://openalex.org/W2098634692","https://openalex.org/W2131415636","https://openalex.org/W2139267874","https://openalex.org/W2157059780","https://openalex.org/W2160495147","https://openalex.org/W2168530549","https://openalex.org/W2169222114","https://openalex.org/W2180368845","https://openalex.org/W2944705515","https://openalex.org/W6674966739","https://openalex.org/W6762263997"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W4316095964","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W4385242941"],"abstract_inverted_index":{"In":[0,77],"this":[1],"work,":[2],"we":[3],"design":[4],"and":[5,9,24,51,113],"implement":[6],"a":[7,13,100,129],"control":[8,54,83,112,153,169],"sensing":[10,102,114,184],"system":[11,18,115],"for":[12,48,73,107,150,165],"three-finger":[14],"robot":[15,130],"hand.":[16,28,131],"The":[17,41,104,132],"effectively":[19],"controls":[20],"the":[21,27,30,34,39,46,49,57,60,67,74,80,85,93,108,111,126,140,147,151,156,173,178,190],"joint":[22],"angles":[23],"forces":[25],"of":[26,33,110,128],"Then,":[29],"grasping":[31,198],"capability":[32],"hand":[35,191],"is":[36,43,64,71,144,187],"demonstrated":[37,188],"using":[38,79],"system.":[40,103],"MSP430":[42],"employed":[44,145],"as":[45,146,172],"microcontroller":[47],"position":[50,58],"force":[52,75,174,180],"feedback":[53],"circuit.":[55],"For":[56],"control,":[59],"adaptive":[61],"PD":[62],"controller":[63,70],"employed,":[65],"while":[66],"traditional":[68],"PID":[69],"used":[72],"control.":[76],"addition,":[78],"force/position":[81],"hybrid":[82],"method,":[84],"aforementioned":[86],"two":[87],"controllers":[88],"are":[89,116,137,161],"integrated.":[90],"We":[91,119],"adapt":[92],"commercially-available":[94],"pressure":[95],"sensor":[96],"elements":[97],"to":[98,124,196],"build":[99],"multi-axis":[101],"required":[105],"platform":[106,149],"demonstration":[109],"also":[117],"developed.":[118],"use":[120],"an":[121,199],"x-y":[122,141],"table":[123],"emulate":[125],"arm":[127],"developed":[133,158],"control/driving/sensing":[134],"circuit":[135],"boards":[136],"attached":[138],"on":[139],"table.":[142],"Labview":[143,160],"software":[148],"high-level":[152],"commands.":[154],"Furthermore,":[155],"codes":[157],"in":[159],"connected":[162],"with":[163,167,177],"Matlab":[164],"computing":[166],"other":[168],"algorithms,":[170],"such":[171],"closure.":[175],"Moreover,":[176],"measured":[179],"data":[181],"collected":[182],"by":[183],"system,":[185],"it":[186],"that":[189],"can":[192],"be":[193],"real-time":[194],"controlled":[195],"steadily":[197],"object.":[200]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}