{"id":"https://openalex.org/W2947257858","doi":"https://doi.org/10.1109/robosoft.2019.8722774","title":"Measurement of shear forces during gripping tasks with a low-cost tactile sensing system","display_name":"Measurement of shear forces during gripping tasks with a low-cost tactile sensing system","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947257858","doi":"https://doi.org/10.1109/robosoft.2019.8722774","mag":"2947257858"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722774","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070953294","display_name":"Rishabh Agarwal","orcid":"https://orcid.org/0000-0003-2817-0231"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rishabh Agarwal","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universitt Erlangen-Nrnberg (FAU), Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universitt Erlangen-Nrnberg (FAU), Erlangen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051309977","display_name":"Sarah Bergbreiter","orcid":"https://orcid.org/0000-0003-2735-0206"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Bergbreiter","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070953294"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9578,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70785688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"330","last_page":"336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987000226974487,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987000226974487,"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":0.9980000257492065,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.814956545829773},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7433954477310181},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.718726634979248},{"id":"https://openalex.org/keywords/proximity-sensor","display_name":"Proximity sensor","score":0.5606630444526672},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.5458803772926331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.532227098941803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.531109631061554},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.48085957765579224},{"id":"https://openalex.org/keywords/conformable-matrix","display_name":"Conformable matrix","score":0.4380324184894562},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4260179400444031},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42147091031074524},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41870203614234924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38715100288391113},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36379125714302063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36068516969680786},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21322017908096313},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19466948509216309},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.09711363911628723}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.814956545829773},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7433954477310181},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.718726634979248},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.5606630444526672},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.5458803772926331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.532227098941803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.531109631061554},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.48085957765579224},{"id":"https://openalex.org/C86072612","wikidata":"https://www.wikidata.org/wiki/Q5160239","display_name":"Conformable matrix","level":2,"score":0.4380324184894562},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4260179400444031},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42147091031074524},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41870203614234924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38715100288391113},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36379125714302063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36068516969680786},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21322017908096313},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19466948509216309},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.09711363911628723},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft.2019.8722774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722774","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1547594098","https://openalex.org/W1922760316","https://openalex.org/W1992985704","https://openalex.org/W1996246968","https://openalex.org/W2081234094","https://openalex.org/W2103664063","https://openalex.org/W2105574694","https://openalex.org/W2134629106","https://openalex.org/W2141655728","https://openalex.org/W2291438184","https://openalex.org/W2342210373","https://openalex.org/W2509011130","https://openalex.org/W2561387089","https://openalex.org/W2579144660","https://openalex.org/W2744729832","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W340201814","https://openalex.org/W2152098532","https://openalex.org/W2125724587","https://openalex.org/W4283740974","https://openalex.org/W4285102271","https://openalex.org/W2119638626","https://openalex.org/W3128324021","https://openalex.org/W4322731033","https://openalex.org/W3136079594","https://openalex.org/W4233135978"],"abstract_inverted_index":{"To":[0,86],"grasp":[1],"and":[2,16,36,50,58,75,89,99,118,122,131],"manipulate":[3],"complex":[4,41],"objects,":[5,124],"robots":[6],"require":[7],"information":[8],"about":[9],"the":[10,13,17,22,37,62,93,140,151,155,159],"interaction":[11,134],"between":[12],"end":[14,73,79],"effector":[15],"object.":[18,138],"This":[19],"work":[20],"describes":[21],"integration":[23,88],"of":[24,39,61,72,92,120],"a":[25,47,70,84,95,136,143],"low-cost":[26],"3-axis":[27],"tactile":[28],"sensing":[29],"system":[30],"into":[31],"two":[32],"different":[33,114],"robotic":[34],"systems":[35],"measurement":[38],"these":[40],"interactions.":[42],"The":[43,56],"sensor":[44,63],"itself":[45],"is":[46,147],"small,":[48],"lightweight,":[49],"compliant":[51],"silicone":[52],"based":[53],"capacitive":[54],"sensor.":[55],"soft":[57],"conformable":[59],"design":[60],"allows":[64],"it":[65],"to":[66,149],"be":[67],"integrated":[68],"within":[69],"variety":[71],"effectors":[74,80],"locations":[76],"on":[77,154],"those":[78],"(e.g.":[81],"wrapped":[82],"around":[83],"finger).":[85],"improve":[87],"data":[90,108],"collection":[91],"sensors,":[94],"custom":[96],"interface":[97],"board":[98],"ROS":[100],"(Robot":[101],"Operating":[102],"System)":[103],"package":[104],"were":[105],"developed.":[106],"Sensor":[107],"has":[109],"been":[110],"collected":[111],"from":[112],"four":[113],"tasks:":[115],"1.":[116],"pick":[117],"place":[119],"non-conductive":[121],"conductive":[123],"2.":[125],"wrist-based":[126],"manipulation,":[127],"3.":[128],"peeling":[129],"tape,":[130],"4.":[132],"human":[133,160],"with":[135,162],"grasped":[137,156],"In":[139],"last":[141],"task,":[142],"closed":[144],"loop":[145],"controller":[146],"used":[148],"adjust":[150],"grip":[152],"force":[153],"object":[157],"while":[158],"interacts":[161],"it.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}