{"id":"https://openalex.org/W2947784805","doi":"https://doi.org/10.1109/robosoft.2019.8722738","title":"Gel-Based Soft Interfaces for Fastener Manipulation in Robotic Agile Assembly","display_name":"Gel-Based Soft Interfaces for Fastener Manipulation in Robotic Agile Assembly","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947784805","doi":"https://doi.org/10.1109/robosoft.2019.8722738","mag":"2947784805"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722738","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/295787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072106823","display_name":"Kieran Gilday","orcid":"https://orcid.org/0000-0002-8264-1535"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Kieran Gilday","raw_affiliation_strings":["Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072106823"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.08818149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"155","last_page":"160"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6378991603851318},{"id":"https://openalex.org/keywords/fastener","display_name":"Fastener","score":0.6013663411140442},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5693773627281189},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5049217343330383},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4980957508087158},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4882688522338867},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4442421793937683},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.42260563373565674},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.380522221326828},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23992645740509033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14592015743255615}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6378991603851318},{"id":"https://openalex.org/C2778240408","wikidata":"https://www.wikidata.org/wiki/Q2002016","display_name":"Fastener","level":2,"score":0.6013663411140442},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5693773627281189},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5049217343330383},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4980957508087158},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4882688522338867},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4442421793937683},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.42260563373565674},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.380522221326828},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23992645740509033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14592015743255615},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft.2019.8722738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722738","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:generic.eprints.org:1101912","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1101912/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:infoscience.epfl.ch:295787","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/295787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:295787","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/295787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2878081948","display_name":null,"funder_award_id":"2109088","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1479885080","https://openalex.org/W1515749184","https://openalex.org/W1529293386","https://openalex.org/W1977172231","https://openalex.org/W1982455103","https://openalex.org/W2001070641","https://openalex.org/W2013426863","https://openalex.org/W2020388573","https://openalex.org/W2046390493","https://openalex.org/W2048717879","https://openalex.org/W2052513620","https://openalex.org/W2103065610","https://openalex.org/W2116416049","https://openalex.org/W2151710851","https://openalex.org/W2161176408","https://openalex.org/W2815218670","https://openalex.org/W2944592567","https://openalex.org/W6675372366","https://openalex.org/W7074141094"],"related_works":["https://openalex.org/W2381731832","https://openalex.org/W2020631818","https://openalex.org/W2910075253","https://openalex.org/W2889060475","https://openalex.org/W1970316032","https://openalex.org/W4205192237","https://openalex.org/W293705464","https://openalex.org/W2357124094","https://openalex.org/W4226078381","https://openalex.org/W4240662359"],"abstract_inverted_index":{"Robotic":[0],"manufacturing":[1,10],"is":[2,104,130],"increasingly":[3],"moving":[4],"towards":[5],"one-off":[6],"assembly":[7,93],"tasks.":[8],"Agile":[9],"systems":[11],"must":[12],"be":[13,63,114],"able":[14],"to":[15,17,100,117,132,139],"adapt":[16],"changing":[18],"parts":[19,47],"and":[20,32,39,45,68,83,158,165],"designs.":[21],"The":[22,51,95,127],"addition":[23],"of":[24,43,121,144],"a":[25,29,33,106,136],"soft":[26,60,81,128],"interface,":[27],"between":[28],"picking":[30,44],"tool":[31,138],"part,":[34],"can":[35,62,113],"improve":[36],"the":[37,77,85,98,101,109,118,122],"performance":[38,161],"introduce":[40],"new":[41],"ways":[42],"manipulating":[46,88],"without":[48],"increasing":[49],"complexity.":[50],"introduced":[52],"compliance":[53],"also":[54],"assists":[55],"when":[56],"mating":[57],"parts.":[58,145],"These":[59],"interfaces":[61],"applied":[64],"in":[65,90,124],"minimalist":[66],"pick":[67,140],"place":[69],"tasks":[70],"with":[71],"passive":[72],"gripping.":[73],"This":[74,146],"work":[75],"investigates":[76],"model":[78,96],"behind":[79],"gel-based":[80],"interfaces,":[82],"demonstrates":[84],"application":[86],"for":[87,135,153,162],"fasteners":[89],"an":[91],"agile":[92],"task.":[94],"predicts":[97],"limit":[99],"holding":[102,111],"force":[103,112],"from":[105],"vacuum":[107],"seal,":[108],"actual":[110],"lower":[115],"due":[116],"fluid":[119],"properties":[120],"gel":[123],"confined":[125],"geometries.":[126],"interface":[129,147],"shown":[131],"give":[133],"adaptability":[134],"single":[137],"multiple":[141],"different":[142],"sizes":[143],"gives":[148],"success":[149],"rate":[150],">":[151],"90%":[152],"well":[154],"aligned":[155],"cross-head":[156],"bolts,":[157],"much":[159],"better":[160],"hex":[163],"keys":[164],"bolts.":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
