{"id":"https://openalex.org/W4396853610","doi":"https://doi.org/10.1109/robosoft60065.2024.10521956","title":"Enriching Contact Information Through Fiber Bragg Gratings-Based Exteroception in Soft Bending Actuators","display_name":"Enriching Contact Information Through Fiber Bragg Gratings-Based Exteroception in Soft Bending Actuators","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396853610","doi":"https://doi.org/10.1109/robosoft60065.2024.10521956"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521956","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft60065.2024.10521956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/RoboSoft60065.2024.10521956","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068967208","display_name":"Niccol\u00f2 Pagliarani","orcid":"https://orcid.org/0000-0003-3871-0940"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Niccol\u00f2 Pagliarani","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066798538","display_name":"Mariangela Filosa","orcid":"https://orcid.org/0000-0002-3365-7725"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mariangela Filosa","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038036345","display_name":"Rana Muhammad Armaghan Ayaz","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rana Muhammad Armaghan Ayaz","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","Mechanical Intelligence Institute, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Mechanical Intelligence Institute, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019665328","display_name":"Claudio J. Ot\u00f3n","orcid":"https://orcid.org/0000-0003-3831-7559"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio J. Oton","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy","Mechanical Intelligence Institute, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Mechanical Intelligence Institute, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051355825","display_name":"Calogero Maria Oddo","orcid":"https://orcid.org/0000-0002-1489-5701"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Calogero Maria Oddo","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068967208"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.7,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6680577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1082","last_page":"1087"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9983999729156494,"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":0.9979000091552734,"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":0.9975000023841858,"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/grippers","display_name":"Grippers","score":0.8924660682678223},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6132602691650391},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6102636456489563},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4911753833293915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4716861844062805},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.451855331659317},{"id":"https://openalex.org/keywords/fiber-bragg-grating","display_name":"Fiber Bragg grating","score":0.4442391097545624},{"id":"https://openalex.org/keywords/metrology","display_name":"Metrology","score":0.44394999742507935},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26659125089645386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2623763084411621},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2456435263156891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.213290274143219},{"id":"https://openalex.org/keywords/optical-fiber","display_name":"Optical fiber","score":0.17768555879592896},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.10373485088348389}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8924660682678223},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6132602691650391},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6102636456489563},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4911753833293915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4716861844062805},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.451855331659317},{"id":"https://openalex.org/C43091971","wikidata":"https://www.wikidata.org/wiki/Q1397391","display_name":"Fiber Bragg grating","level":3,"score":0.4442391097545624},{"id":"https://openalex.org/C195766429","wikidata":"https://www.wikidata.org/wiki/Q394","display_name":"Metrology","level":2,"score":0.44394999742507935},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26659125089645386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2623763084411621},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2456435263156891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.213290274143219},{"id":"https://openalex.org/C194232370","wikidata":"https://www.wikidata.org/wiki/Q162","display_name":"Optical fiber","level":2,"score":0.17768555879592896},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.10373485088348389},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521956","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft60065.2024.10521956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/568732","is_oa":false,"landing_page_url":"https://hdl.handle.net/11382/568732","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:13623407","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RoboSoft60065.2024.10521956","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:13623407","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RoboSoft60065.2024.10521956","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2121748321","https://openalex.org/W2407746226","https://openalex.org/W2784648116","https://openalex.org/W2883279767","https://openalex.org/W2895158659","https://openalex.org/W2909867875","https://openalex.org/W2920289934","https://openalex.org/W2997390665","https://openalex.org/W2997878984","https://openalex.org/W3010642520","https://openalex.org/W3094212051","https://openalex.org/W3204719635","https://openalex.org/W4252715967","https://openalex.org/W4281635836","https://openalex.org/W4281742685","https://openalex.org/W4285601474","https://openalex.org/W4295036252","https://openalex.org/W4296434356","https://openalex.org/W4375852836","https://openalex.org/W4383818779","https://openalex.org/W4386201312","https://openalex.org/W4386702958","https://openalex.org/W4389352630","https://openalex.org/W4391761360"],"related_works":["https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W4386100501","https://openalex.org/W3014507301","https://openalex.org/W3153919089","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W2962964599","https://openalex.org/W4322731033"],"abstract_inverted_index":{"Tactile":[0],"sensing":[1,28,81],"is":[2],"of":[3,56,68,79,92,103,122],"utmost":[4],"importance":[5],"for":[6,42,150],"accomplishing":[7],"fine":[8],"manipulation":[9,152],"tasks":[10],"and":[11,23,36,58,83,90,101,105],"extracting":[12],"crucial":[13],"physical":[14],"features":[15],"in":[16,96,119],"soft":[17,45,70,93,124,140],"grippers.":[18],"A":[19],"contact":[20],"force":[21,104],"estimation":[22],"localization":[24],"approach":[25],"based":[26],"on":[27,64],"modalities":[29],"using":[30],"Fiber":[31],"Bragg":[32],"Grating":[33],"(FBG)":[34],"transducers":[35],"artificial":[37],"intelligence":[38],"models":[39],"are":[40],"proposed":[41,73],"pneumatically":[43],"actuated":[44],"fingers.":[46,94],"The":[47,72],"small":[48],"packaged":[49],"sensor":[50],"unit":[51],"enables":[52],"modular":[53],"design,":[54],"ease":[55],"assembly,":[57],"high":[59],"repeatability":[60],"with":[61,142],"negligible":[62],"effects":[63],"the":[65,69,77,80,99,120],"mechanical":[66],"performance":[67],"finger.":[71],"neural":[74],"networks":[75],"process":[76],"output":[78],"modality":[82],"mitigate":[84],"errors":[85],"from":[86,154],"material":[87],"nonlinearity,":[88],"fabrication,":[89],"assembly":[91],"This,":[95],"turn,":[97],"enhances":[98],"accuracy":[100],"transferability":[102],"position":[106],"estimations,":[107],"leading":[108],"to":[109,128,138,145,156],"proper":[110],"metrological":[111],"indicators.":[112],"These":[113],"results":[114],"provide":[115],"a":[116,133],"step":[117],"forward":[118],"development":[121],"smart":[123],"grippers":[125,141],"enabling":[126],"them":[127],"attain":[129],"\u201ctransparent\u201d":[130],"exteroception.":[131],"As":[132],"result,":[134],"this":[135],"work":[136],"contributes":[137],"empowering":[139],"skillful":[143],"capabilities":[144],"acquire":[146],"precise":[147],"tactile":[148],"information":[149],"safe":[151],"ranging":[153],"agricultural":[155],"biomedical":[157],"fields.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
