{"id":"https://openalex.org/W4376605616","doi":"https://doi.org/10.1109/robosoft55895.2023.10122052","title":"Composite Stretchable Sensors for the Detection of Asymmetric Deformations in a Soft Manipulator","display_name":"Composite Stretchable Sensors for the Detection of Asymmetric Deformations in a Soft Manipulator","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605616","doi":"https://doi.org/10.1109/robosoft55895.2023.10122052"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122052","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10122052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.17863/cam.94486","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090581189","display_name":"David Hardman","orcid":"https://orcid.org/0000-0002-5102-0541"},"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":"David Hardman","raw_affiliation_strings":["University of Cambridge,Department of Engineering,UK","Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Department of Engineering,UK","institution_ids":["https://openalex.org/I241749"]},{"raw_affiliation_string":"Department of Engineering, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026716577","display_name":"Ryman Hashem","orcid":"https://orcid.org/0000-0003-0508-8745"},"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":"Ryman Hashem","raw_affiliation_strings":["University of Cambridge,Department of Engineering,UK","Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Department of Engineering,UK","institution_ids":["https://openalex.org/I241749"]},{"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":["University of Cambridge,Department of Engineering,UK","Department of Engineering, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Department of Engineering,UK","institution_ids":["https://openalex.org/I241749"]},{"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/A5090581189"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46293787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"521","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":1.0,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":1.0,"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":0.9994999766349792,"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":0.9977999925613403,"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/soft-robotics","display_name":"Soft robotics","score":0.7023022174835205},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6431848406791687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708409547805786},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.4533405601978302},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.451673686504364},{"id":"https://openalex.org/keywords/delamination","display_name":"Delamination (geology)","score":0.44604483246803284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41262054443359375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20382371544837952}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7023022174835205},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6431848406791687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708409547805786},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.4533405601978302},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.451673686504364},{"id":"https://openalex.org/C30239060","wikidata":"https://www.wikidata.org/wiki/Q5253111","display_name":"Delamination (geology)","level":4,"score":0.44604483246803284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41262054443359375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20382371544837952},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C77928131","wikidata":"https://www.wikidata.org/wiki/Q193343","display_name":"Tectonics","level":2,"score":0.0},{"id":"https://openalex.org/C58097730","wikidata":"https://www.wikidata.org/wiki/Q176318","display_name":"Subduction","level":3,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122052","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10122052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:doi:10.17863/cam.94486","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"raw_type":"Conference Object"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/347070","is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/347070","pdf_url":null,"source":{"id":"https://openalex.org/S4306401776","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"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":"Conference Object"},{"id":"doi:10.17863/cam.94486","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.94486","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.17863/cam.94486","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.94486","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6210605162","display_name":null,"funder_award_id":"EP/T00519X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7168802167","display_name":null,"funder_award_id":"agreement","funder_id":"https://openalex.org/F4320338336","funder_display_name":"H2020 Future and Emerging Technologies"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338336","display_name":"H2020 Future and Emerging Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1984831423","https://openalex.org/W2059772445","https://openalex.org/W2073442815","https://openalex.org/W2133838039","https://openalex.org/W2285847257","https://openalex.org/W2515175659","https://openalex.org/W2565037204","https://openalex.org/W2592171368","https://openalex.org/W2734359433","https://openalex.org/W2752679600","https://openalex.org/W2878752601","https://openalex.org/W3000725578","https://openalex.org/W3016793351","https://openalex.org/W3034432356","https://openalex.org/W3037458076","https://openalex.org/W3047411995","https://openalex.org/W3081487391","https://openalex.org/W3144521800","https://openalex.org/W3153596970","https://openalex.org/W3156169965","https://openalex.org/W3208266751","https://openalex.org/W4210807209","https://openalex.org/W4213324667","https://openalex.org/W4226253506","https://openalex.org/W4283261272","https://openalex.org/W4284966941","https://openalex.org/W6803041557"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2987774938","https://openalex.org/W2566006169","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"As":[0],"the":[1,13,28,70,94,111,120],"task-complexities":[2],"demanded":[3],"of":[4,30,77,101,114,122],"soft":[5,16,47,78,95],"robots":[6],"continue":[7],"to":[8,85,87],"increase,":[9],"so":[10],"too":[11],"does":[12],"need":[14],"for":[15,42],"sensorized":[17],"skins":[18],"which":[19],"can":[20,56],"provide":[21],"complex":[22],"tactile":[23],"feedback.":[24],"Here":[25],"we":[26,81],"consider":[27],"detection":[29],"asymmetric":[31,58],"deformations":[32],"by":[33],"designing":[34],"and":[35,52,90,97],"validating":[36],"an":[37,45],"easy-to-fabricate":[38],"hydrogel-silicone":[39],"composite":[40],"sensor":[41],"deployment":[43],"in":[44,60,73,93],"underactuated":[46],"robotic":[48,79],"manipulator.":[49],"For":[50],"proprioception":[51],"exteroception,":[53],"this":[54],"skin":[55,63],"sense":[57],"bifurcations":[59],"a":[61,74,104],"stretchable":[62],"without":[64],"affecting":[65],"functionality.":[66],"Our":[67],"method":[68],"facilitates":[69],"sensor's":[71],"use":[72],"wide":[75],"range":[76],"actuators:":[80],"present":[82],"its":[83,99],"ability":[84],"respond":[86],"repeated,":[88],"incremental,":[89],"oscillating":[91],"stimuli":[92],"manipulator,":[96],"demonstrate":[98],"ease":[100],"integration":[102],"into":[103],"closed-loop":[105],"control":[106],"system.":[107],"We":[108],"experimentally":[109],"find":[110],"sensors":[112],"capable":[113],"withstanding":[115],"over":[116],"200%":[117],"strain":[118],"before":[119],"onset":[121],"delamination.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
