{"id":"https://openalex.org/W4376605642","doi":"https://doi.org/10.1109/robosoft55895.2023.10122078","title":"GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing","display_name":"GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605642","doi":"https://doi.org/10.1109/robosoft55895.2023.10122078"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122078","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122078","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"],"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/A5012624401","display_name":"Sandra Q. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sandra Q. Liu","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100736983","display_name":"Yuxiang Ma","orcid":"https://orcid.org/0000-0002-7731-7255"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuxiang Ma","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021989698","display_name":"Edward H. Adelson","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward H. Adelson","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012624401"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.5847,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.89700894,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9980000257492065,"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":0.9901999831199646,"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":0.6280004382133484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6023745536804199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5836954116821289},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5770441293716431},{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.5306652188301086},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.47969600558280945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4779500961303711},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4480757713317871},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.444225937128067},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42800527811050415},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2829749882221222},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22722205519676208},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1888844072818756}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6280004382133484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6023745536804199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5836954116821289},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5770441293716431},{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.5306652188301086},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.47969600558280945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4779500961303711},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4480757713317871},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.444225937128067},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42800527811050415},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2829749882221222},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22722205519676208},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1888844072818756},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122078","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122078","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1993947467","https://openalex.org/W2012265686","https://openalex.org/W2194775991","https://openalex.org/W2551680314","https://openalex.org/W2775635818","https://openalex.org/W2883279767","https://openalex.org/W2963164265","https://openalex.org/W2980386651","https://openalex.org/W3016727646","https://openalex.org/W3089672928","https://openalex.org/W3132222787","https://openalex.org/W3132968835","https://openalex.org/W3136130311","https://openalex.org/W3138117074","https://openalex.org/W3156516130","https://openalex.org/W3171031826","https://openalex.org/W3191770880","https://openalex.org/W3200203756","https://openalex.org/W3205115400","https://openalex.org/W3210392520","https://openalex.org/W4226035577","https://openalex.org/W4306632919","https://openalex.org/W6769730028","https://openalex.org/W6799746442"],"related_works":["https://openalex.org/W2136647108","https://openalex.org/W3016239942","https://openalex.org/W2487340859","https://openalex.org/W2486091485","https://openalex.org/W4293365988","https://openalex.org/W1965180958","https://openalex.org/W2350029007","https://openalex.org/W2374188760","https://openalex.org/W3133406196","https://openalex.org/W4386395740"],"abstract_inverted_index":{"The":[0],"synthesis":[1],"of":[2,28,98,121,138,155,173,181,213,235],"tactile":[3,40,148,203],"sensing":[4],"with":[5,37,53,63,128],"compliance":[6,180],"is":[7,91],"essential":[8],"to":[9,18,25,35,58,93,151,227],"many":[10],"fields,":[11],"from":[12],"agricultural":[13],"usages":[14],"like":[15],"fruit":[16],"picking,":[17],"sustainability":[19],"practices":[20],"such":[21,82,146],"as":[22,83],"sorting":[23],"recycling,":[24],"the":[26,33,64,67,84,113,119,136,139,166,171,174,179,182,220],"creation":[27],"safe":[29],"home-care":[30],"robots":[31],"for":[32,206],"elderly":[34],"age":[36],"dignity.":[38],"From":[39],"sensing,":[41],"we":[42,55,133,187,210,225],"can":[43,74,134,198],"discern":[44],"material":[45],"properties,":[46],"recognize":[47],"textures,":[48],"and":[49,60,66,101,141,164,191,231],"determine":[50],"softness,":[51],"while":[52],"compliance,":[54],"are":[56],"able":[57,92],"securely":[59],"safely":[61],"interact":[62],"objects":[65,100],"environment":[68],"around":[69],"us.":[70],"These":[71],"two":[72],"abilities":[73],"culminate":[75],"into":[76,170,216],"a":[77,95,104,123,129,152,189,217],"useful":[78],"soft":[79,156],"robotic":[80],"gripper,":[81,175],"original":[85,114],"GelSight":[86,115],"Fin":[87,116,183,222],"Ray":[88,117,184],"[1],":[89],"which":[90,176,197,224],"grasp":[94],"large":[96],"variety":[97,154],"different":[99],"also":[102],"perform":[103,232],"simple":[105],"household":[106],"manipulation":[107],"task:":[108],"wine":[109],"glass":[110],"reorientation.":[111],"Although":[112],"solves":[118],"problem":[120],"interfacing":[122],"generally":[124],"rigid,":[125],"high-resolution":[126],"sensor":[127,140],"soft,":[130],"compliant":[131],"structure,":[132],"improve":[135],"robustness":[137],"implement":[142],"techniques":[143,215],"that":[144],"make":[145],"camera-based":[147],"sensors":[149],"applicable":[150],"wider":[153],"robot":[157],"designs.":[158],"We":[159],"first":[160],"integrate":[161],"flexible":[162,190],"mirrors":[163],"incorporate":[165,211],"rigid":[167],"electronic":[168],"components":[169],"base":[172],"greatly":[177],"improves":[178],"structure.":[185],"Then,":[186],"synthesize":[188],"high-elongation":[192],"silicone":[193],"adhesive-based":[194],"fluorescent":[195],"paint,":[196],"provide":[199],"good":[200],"quality":[201],"2D":[202],"localization":[204],"results":[205],"our":[207],"sensor.":[208],"Finally,":[209],"all":[212],"these":[214],"new":[218],"design:":[219],"Baby":[221],"Ray,":[223],"use":[226],"dig":[228],"through":[229],"clutter,":[230],"successful":[233],"classification":[234],"nuts":[236],"in":[237],"their":[238],"shells.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}