{"id":"https://openalex.org/W4376605654","doi":"https://doi.org/10.1109/robosoft55895.2023.10122097","title":"GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation","display_name":"GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605654","doi":"https://doi.org/10.1109/robosoft55895.2023.10122097"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122097","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/A5017421172","display_name":"Megha H. Tippur","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":"Megha H. Tippur","raw_affiliation_strings":["Massachusetts Institute of Technology,US","Massachusetts Institute of Technology, US"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,US","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, US","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,US","Massachusetts Institute of Technology, US"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,US","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, US","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017421172"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":4.1617,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.94923318,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9990000128746033,"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":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9900000095367432,"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/tactile-sensor","display_name":"Tactile sensor","score":0.8372113704681396},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7935671806335449},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6486846208572388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6006576418876648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5843346118927002},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5749614238739014},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.5644492506980896},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4657154083251953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40950465202331543},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23966428637504578},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08023259043693542}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8372113704681396},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7935671806335449},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6486846208572388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6006576418876648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5843346118927002},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5749614238739014},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.5644492506980896},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4657154083251953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40950465202331543},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23966428637504578},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08023259043693542},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122097","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337822","display_name":"Tropical Resources Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1548071717","https://openalex.org/W1965953026","https://openalex.org/W2031365393","https://openalex.org/W2128681845","https://openalex.org/W2169364846","https://openalex.org/W2216377025","https://openalex.org/W2221572040","https://openalex.org/W2421020186","https://openalex.org/W2562116405","https://openalex.org/W2569244399","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2947434510","https://openalex.org/W2963765355","https://openalex.org/W2963886462","https://openalex.org/W2963915174","https://openalex.org/W2967509406","https://openalex.org/W2972394921","https://openalex.org/W2980002227","https://openalex.org/W2980008517","https://openalex.org/W3008303301","https://openalex.org/W3089374988","https://openalex.org/W3090215479","https://openalex.org/W3100818121","https://openalex.org/W3129699689","https://openalex.org/W3138117074","https://openalex.org/W3190924824","https://openalex.org/W3192021195","https://openalex.org/W3205115400","https://openalex.org/W3213517261","https://openalex.org/W4224911886","https://openalex.org/W4226035577","https://openalex.org/W4226340130","https://openalex.org/W4226409245","https://openalex.org/W4229447536","https://openalex.org/W4280585654","https://openalex.org/W4286890426","https://openalex.org/W4293597205","https://openalex.org/W4383109192","https://openalex.org/W6803178138","https://openalex.org/W6803256779","https://openalex.org/W6803376173","https://openalex.org/W6851314459"],"related_works":["https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W4386100501","https://openalex.org/W4379536980","https://openalex.org/W2898919627","https://openalex.org/W2118689766","https://openalex.org/W2084468378","https://openalex.org/W1989062809","https://openalex.org/W2625795345"],"abstract_inverted_index":{"Camera-based":[0],"tactile":[1,31,45,120,181],"sensors":[2,46,73,83,182],"have":[3,63,86],"shown":[4],"great":[5],"promise":[6],"in":[7,146],"enhancing":[8],"a":[9,14,49,64,75,106,116,137],"robot's":[10],"ability":[11],"to":[12,27,70,105,156,162,174,183],"perform":[13],"variety":[15,76],"of":[16,21,43,58,77,123,127,165],"dexterous":[17],"manipulation":[18],"tasks.":[19],"Advantages":[20],"their":[22,185],"use":[23,47],"can":[24,39,143],"be":[25,144,158],"attributed":[26],"the":[28,59,72,81,130,154],"high":[29,179],"resolution":[30,180],"data":[32],"and":[33,151,160,176],"3D":[34,94],"depth":[35,95,125],"map":[36],"reconstructions":[37],"they":[38],"provide.":[40],"Unfortunately,":[41],"many":[42,91],"these":[44],"either":[48],"flat":[50],"sensing":[51,89],"surface,":[52],"sense":[53],"on":[54],"only":[55],"one":[56],"side":[57],"sensor's":[60,131],"body,":[61],"or":[62],"bulky":[65],"form-factor,":[66],"making":[67],"it":[68],"difficult":[69],"integrate":[71],"with":[74],"robotic":[78,186],"grippers.":[79],"Of":[80],"camera-based":[82,119],"that":[84,98,142],"do":[85,99],"all-around,":[87],"curved":[88],"surfaces,":[90],"cannot":[92],"provide":[93],"maps;":[96],"those":[97],"often":[100],"require":[101],"optical":[102],"designs":[103],"specified":[104],"particular":[107],"sensor":[108,121,149,155],"geometry.":[109],"In":[110,133],"this":[111,169],"work,":[112,170],"we":[113,135,171],"introduce":[114,136],"GelSight360,":[115],"fingertip-like,":[117],"omnidirectional,":[118],"capable":[122],"producing":[124],"maps":[126],"objects":[128],"deforming":[129],"surface.":[132],"addition,":[134],"novel":[138],"cross-LED":[139],"lighting":[140],"scheme":[141],"implemented":[145],"different":[147,163],"all-around":[148],"geometries":[150],"sizes,":[152],"allowing":[153],"easily":[157,177],"reconfigured":[159],"attached":[161],"grippers":[164],"varying":[166],"DOFs.":[167],"With":[168],"enable":[172],"roboticists":[173],"quickly":[175],"customize":[178],"fit":[184],"system's":[187],"needs.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}