{"id":"https://openalex.org/W2115282423","doi":"https://doi.org/10.1109/robot.2009.5152595","title":"A flexible robot skin for safe physical human robot interaction","display_name":"A flexible robot skin for safe physical human robot interaction","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2115282423","doi":"https://doi.org/10.1109/robot.2009.5152595","mag":"2115282423"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5044749144","display_name":"Vincent Duchaine","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Vincent Duchaine","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053282831","display_name":"Nicolas Lauzier","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nicolas Lauzier","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053009750","display_name":"Mathieu Baril","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mathieu Baril","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047738845","display_name":"Marc-Antoine Lacasse","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Marc-Antoine Lacasse","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055839781","display_name":"Cl\u00e9ment Gosselin","orcid":"https://orcid.org/0000-0001-7422-4515"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Clement Gosselin","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, QUE, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Canada G1V 0A6","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044749144"],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":null,"apc_paid":null,"fwci":4.1268,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.93785108,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3676","last_page":"3681"},"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":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9886000156402588,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.980400025844574,"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/robot","display_name":"Robot","score":0.7209962010383606},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5954992175102234},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.570513129234314},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.46973690390586853},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.41786059737205505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4111090302467346},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3500719666481018},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31205588579177856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20727598667144775},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.09609252214431763}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7209962010383606},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5954992175102234},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.570513129234314},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.46973690390586853},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.41786059737205505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4111090302467346},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3500719666481018},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31205588579177856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20727598667144775},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.09609252214431763},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1517601379","https://openalex.org/W1844761640","https://openalex.org/W1938892272","https://openalex.org/W1982204952","https://openalex.org/W2014972957","https://openalex.org/W2017832059","https://openalex.org/W2050835671","https://openalex.org/W2052056036","https://openalex.org/W2058521945","https://openalex.org/W2100913768","https://openalex.org/W2131576188","https://openalex.org/W2132393325","https://openalex.org/W2133482015","https://openalex.org/W2134147052","https://openalex.org/W2135057655","https://openalex.org/W2157459335","https://openalex.org/W2161255630","https://openalex.org/W2246844245","https://openalex.org/W4211131370","https://openalex.org/W4237273941","https://openalex.org/W4244661515","https://openalex.org/W6630859358","https://openalex.org/W6645945132","https://openalex.org/W6679679277","https://openalex.org/W6690905693"],"related_works":["https://openalex.org/W2082914599","https://openalex.org/W2756570351","https://openalex.org/W2132500134","https://openalex.org/W4211139140","https://openalex.org/W2007805353","https://openalex.org/W2387433897","https://openalex.org/W2100589902","https://openalex.org/W202646725","https://openalex.org/W2008392873","https://openalex.org/W2390622580"],"abstract_inverted_index":{"Providing":[0],"contact":[1,34],"sensing":[2,32],"on":[3,159],"the":[4,16,41,52,56,67,104,116,128,145,148,152,160,163,167],"whole":[5],"body":[6],"of":[7,19,31,59,81,97,106,118,135,151,162,166],"a":[8,11,26,47,75,89,110],"robot":[9,28,181],"is":[10,36,44,74,101,112,130],"key":[12],"feature":[13],"to":[14,45,54,63,66,114],"increase":[15],"safety":[17,178],"level":[18],"physical":[20],"human-robot":[21],"interaction.":[22,182],"In":[23],"this":[24],"paper,":[25],"new":[27],"skin":[29,50,153],"capable":[30],"multiple":[33],"locations":[35],"presented.":[37],"The":[38,71,95,142],"motivation":[39],"behind":[40],"proposed":[42,113],"design":[43,146],"produce":[46],"relatively":[48],"inexpensive":[49],"having":[51],"capability":[53],"provide":[55,122],"spatial":[57],"location":[58],"collisions":[60],"and":[61,88,109,125,147],"also":[62,155],"add":[64],"compliance":[65],"robot's":[68],"external":[69],"cover.":[70],"resulting":[72,168],"device":[73],"thin":[76],"flexible":[77],"sensor":[78,129,169],"sheet":[79],"made":[80],"polyimide":[82],"films":[83],"with":[84],"electrically":[85],"conductive":[86,92,107],"ink":[87,108],"pressure":[90],"sensitive":[91],"rubber":[93],"sheet.":[94],"problem":[96],"internal":[98],"wire":[99],"routing":[100],"circumvented":[102],"by":[103],"use":[105],"circuit":[111],"minimize":[115],"number":[117],"output":[119],"wires.":[120],"To":[121],"collision":[123],"absorption":[124],"mechanical":[126,164],"robustness,":[127],"embedded":[131],"in":[132],"different":[133],"layers":[134],"polyurethane":[136],"using":[137],"shape":[138],"deposition":[139],"manufacturing":[140],"(SDM).":[141],"paper":[143],"presents":[144],"fabrication":[149],"process":[150],"but":[154],"some":[156],"experimental":[157],"results":[158],"determination":[161],"properties":[165],"as":[170,172],"well":[171],"its":[173],"potential":[174],"for":[175],"increasing":[176],"human":[177,180],"during":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
