{"id":"https://openalex.org/W2149790773","doi":"https://doi.org/10.1109/robot.2008.4543739","title":"12D force and acceleration sensing: A helpful experience report on sensor characteristics","display_name":"12D force and acceleration sensing: A helpful experience report on sensor characteristics","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2149790773","doi":"https://doi.org/10.1109/robot.2008.4543739","mag":"2149790773"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Torsten Kroger","raw_affiliation_strings":["Institute for Robotics and Process Control, Technical University of Braunschweig, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Technical University of Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050420397","display_name":"Daniel Kubus","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Kubus","raw_affiliation_strings":["Institute for Robotics and Process Control, Technical University of Braunschweig, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Technical University of Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich M. Wahl","raw_affiliation_strings":["Institute for Robotics and Process Control, Technical University of Braunschweig, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Technical University of Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018921223"],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":2.3306,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.88922852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":null,"first_page":"3455","last_page":"3462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9976999759674072,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9954000115394592,"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/acceleration","display_name":"Acceleration","score":0.8542152643203735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6061014533042908},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5535731315612793},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4808669686317444},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4755142331123352},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.45387426018714905},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.44095373153686523},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4285222887992859},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4268093705177307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41706860065460205},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35882842540740967},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3553881049156189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3543686866760254},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30588299036026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25677812099456787},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1896975040435791}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8542152643203735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061014533042908},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5535731315612793},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4808669686317444},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4755142331123352},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.45387426018714905},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.44095373153686523},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4285222887992859},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4268093705177307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41706860065460205},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35882842540740967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3553881049156189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3543686866760254},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30588299036026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25677812099456787},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1896975040435791},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1766888123","https://openalex.org/W1965324089","https://openalex.org/W2010800724","https://openalex.org/W2015861460","https://openalex.org/W2030255580","https://openalex.org/W2069742682","https://openalex.org/W2081718938","https://openalex.org/W2101218549","https://openalex.org/W2102435655","https://openalex.org/W2104111596","https://openalex.org/W2105912072","https://openalex.org/W2108039520","https://openalex.org/W2112844012","https://openalex.org/W2136348177","https://openalex.org/W2148084973","https://openalex.org/W2150941658","https://openalex.org/W2161665459","https://openalex.org/W2478884216","https://openalex.org/W2625770418","https://openalex.org/W6637883433","https://openalex.org/W6675638386"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W2385749422","https://openalex.org/W4384517610","https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W4288389100","https://openalex.org/W2025756212","https://openalex.org/W1902800522","https://openalex.org/W2339469482","https://openalex.org/W2382856674"],"abstract_inverted_index":{"The":[0,97],"potential":[1],"of":[2,9,18,54,113,132,174],"six-axis":[3,40,43,118],"acceleration":[4,44,91,119,147,175],"sensors":[5],"in":[6,27,31,102],"the":[7,103,111,130],"field":[8],"robotic":[10],"manipulation":[11],"applications":[12],"is":[13,150],"quite":[14],"high":[15],"and":[16,42,60,80,106,138,165],"most":[17],"it":[19,149],"has":[20],"not":[21],"been":[22],"used":[23],"yet":[24],"-":[25],"neither":[26],"theoretic":[28],"literature":[29],"nor":[30],"research":[32,115],"experiments.":[33],"When":[34],"considering":[35],"six-joint":[36],"industrial":[37],"manipulators":[38],"with":[39,117],"force/torque":[41],"sensing,":[45],"many":[46],"new":[47],"possibilities":[48],"arise:":[49],"all":[50],"ten":[51],"inertial":[52],"parameters":[53],"any":[55,133],"object":[56],"can":[57,62,72,77,84,89],"be":[58,63,73,78,85],"identified":[59],"objects":[61],"recognized":[64,107],"based":[65],"on":[66],"these":[67,155],"parameters,":[68],"position":[69],"control":[70,82],"behavior":[71],"improved;":[74,86],"non-contact":[75],"forces":[76],"extracted":[79],"force":[81],"performance":[83],"visual-servoing":[87],"methods":[88,169],"use":[90],"signals":[92],"to":[93,144,152],"become":[94],"more":[95],"robust.":[96],"authors":[98],"made":[99],"numerous":[100],"experiments":[101],"mentioned":[104],"fields":[105],"major":[108],"weaknesses":[109],"during":[110],"realization":[112],"prototypic":[114],"setups":[116],"sensors.":[120],"These":[121],"problems":[122],"regard":[123],"sensor":[124,135],"drift,":[125],"undesired":[126,139],"sensor-internal":[127],"dependencies":[128],"as":[129],"influence":[131],"distal":[134],"part,":[136],"noise,":[137],"crosstalk":[140],"behavior.":[141],"In":[142],"order":[143],"benefit":[145],"from":[146],"signals,":[148],"important":[151,167],"clearly":[153],"overcome":[154],"problems.":[156],"This":[157],"paper":[158],"analyzes":[159],"typical":[160],"systematic":[161],"errors,":[162],"characterizes":[163],"them,":[164],"suggests":[166],"solution":[168],"for":[170],"a":[171],"successful":[172],"usage":[173],"information.":[176]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}