{"id":"https://openalex.org/W4224911886","doi":"https://doi.org/10.1109/robosoft54090.2022.9762091","title":"Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane","display_name":"Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4224911886","doi":"https://doi.org/10.1109/robosoft54090.2022.9762091"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","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/A5088767767","display_name":"Jessica Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica Yin","raw_affiliation_strings":["Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041765665","display_name":"Gregory M. Campbell","orcid":"https://orcid.org/0000-0003-1936-3293"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory M. Campbell","raw_affiliation_strings":["Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045000129","display_name":"James H. Pikul","orcid":"https://orcid.org/0000-0002-7018-2925"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Pikul","raw_affiliation_strings":["Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics and the GRASP Laboratory at the, University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19103","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"802","last_page":"808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9984999895095825,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"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/computer-vision","display_name":"Computer vision","score":0.687220573425293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6181879043579102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6031742095947266},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5897064208984375},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5733891725540161},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5636669397354126},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4945630729198456},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.48708248138427734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46493858098983765},{"id":"https://openalex.org/keywords/proximity-sensor","display_name":"Proximity sensor","score":0.41917723417282104},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.12571966648101807}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.687220573425293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6181879043579102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6031742095947266},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5897064208984375},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5733891725540161},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5636669397354126},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4945630729198456},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.48708248138427734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46493858098983765},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.41917723417282104},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.12571966648101807},{"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/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th 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":23,"referenced_works":["https://openalex.org/W2203726401","https://openalex.org/W2560704029","https://openalex.org/W2569244399","https://openalex.org/W2580057948","https://openalex.org/W2774825128","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2789539638","https://openalex.org/W2910334216","https://openalex.org/W2950069298","https://openalex.org/W2962688712","https://openalex.org/W2963765355","https://openalex.org/W2972394921","https://openalex.org/W3008303301","https://openalex.org/W3036539877","https://openalex.org/W3041148233","https://openalex.org/W3089374988","https://openalex.org/W3100818121","https://openalex.org/W3118245039","https://openalex.org/W3129522822","https://openalex.org/W3138748647","https://openalex.org/W6785723100","https://openalex.org/W6792373748"],"related_works":["https://openalex.org/W2125724587","https://openalex.org/W4320480693","https://openalex.org/W3215084707","https://openalex.org/W2612878567","https://openalex.org/W2133567427","https://openalex.org/W2141117619","https://openalex.org/W2908059620","https://openalex.org/W2779840927","https://openalex.org/W2171682361","https://openalex.org/W2670698969"],"abstract_inverted_index":{"The":[0,78,131,148],"most":[1],"common":[2],"sensing":[3,28,111],"modalities":[4,29],"found":[5],"in":[6,135,171],"a":[7,65,102,163],"robot":[8],"perception":[9],"system":[10],"are":[11],"vision":[12],"and":[13,20,57,74,84,122,128,141,146,152],"touch,":[14],"which":[15],"together":[16],"can":[17],"provide":[18],"global":[19],"highly":[21],"localized":[22],"data":[23,154],"for":[24,168],"manipulation.":[25,173],"However,":[26],"these":[27],"often":[30],"fail":[31],"to":[32,55,88,97,107,158],"adequately":[33],"capture":[34,159],"the":[35,41,109,115,125],"behavior":[36,167],"of":[37,48,124,150],"target":[38,164],"objects":[39],"during":[40],"critical":[42],"moments":[43],"as":[44],"they":[45],"transition":[46,166],"out":[47],"static,":[49],"controlled":[50],"contact":[51],"with":[52,91],"an":[53,81,92,143],"end-effector":[54],"dynamic":[56,172],"uncontrolled":[58],"motion.":[59],"In":[60],"this":[61],"work,":[62],"we":[63],"present":[64,114],"novel":[66],"multimodal":[67],"visuotactile":[68,73],"sensor":[69,79,87,132],"that":[70],"provides":[71],"simultaneous":[72],"proximity":[75,99,129,153],"depth":[76],"data.":[77],"integrates":[80],"RGB":[82],"camera":[83,96],"air":[85],"pressure":[86],"sense":[89,98],"touch":[90],"infrared":[93],"time-of-flight":[94],"(ToF)":[95],"by":[100],"leveraging":[101],"selectively":[103],"transmissive":[104],"soft":[105],"membrane":[106],"enable":[108],"dual":[110],"modalities.":[112,130],"We":[113],"mechanical":[116],"design,":[117],"fabrication":[118],"techniques,":[119],"algorithm":[120],"implementations,":[121],"evaluation":[123],"sensor's":[126],"tactile":[127,151],"is":[133],"demonstrated":[134],"three":[136],"open-loop":[137],"robotic":[138],"tasks:":[139],"approaching":[140],"contacting":[142],"object,":[144],"catching,":[145],"throwing.":[147],"fusion":[149],"could":[155],"be":[156],"used":[157],"key":[160],"information":[161],"about":[162],"object's":[165],"sensor-based":[169],"control":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}