{"id":"https://openalex.org/W2140551564","doi":"https://doi.org/10.1109/robot.2009.5152647","title":"Two-dimensional, vision-based &amp;#x03BC;N force sensor for microrobotics","display_name":"Two-dimensional, vision-based &amp;#x03BC;N force sensor for microrobotics","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2140551564","doi":"https://doi.org/10.1109/robot.2009.5152647","mag":"2140551564"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152647","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/A5061824615","display_name":"David J. Cappelleri","orcid":"https://orcid.org/0000-0001-7222-0625"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D.J. Cappelleri","raw_affiliation_strings":["Stevens Institute of Technology, Hoboken, NJ, USA","Stevens Institute of Technology, Hoboken, NJ USA"],"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Stevens Institute of Technology, Hoboken, NJ USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030129925","display_name":"Gianluca Piazza","orcid":"https://orcid.org/0000-0003-1970-5847"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Piazza","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA","University of Pennsylvania,Philadelphia,USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Kumar","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA","University of Pennsylvania,Philadelphia,USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061824615"],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":1.8265,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85564099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"55","issue":null,"first_page":"1016","last_page":"1021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11449","display_name":"Mechanical and Optical Resonators","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6656724810600281},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6447359919548035},{"id":"https://openalex.org/keywords/microfabrication","display_name":"Microfabrication","score":0.611678957939148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5449047088623047},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5234581828117371},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4779479503631592},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4683251678943634},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4077739119529724},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4055476188659668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34525251388549805},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3418736457824707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.304159939289093},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.13637399673461914},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13482031226158142},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11431047320365906},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.11005046963691711}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6656724810600281},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6447359919548035},{"id":"https://openalex.org/C527607","wikidata":"https://www.wikidata.org/wiki/Q175538","display_name":"Microfabrication","level":4,"score":0.611678957939148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5449047088623047},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5234581828117371},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4779479503631592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4683251678943634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4077739119529724},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4055476188659668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34525251388549805},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3418736457824707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.304159939289093},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13637399673461914},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13482031226158142},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11431047320365906},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.11005046963691711},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152647","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":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W13995475","https://openalex.org/W1525489330","https://openalex.org/W1576677331","https://openalex.org/W1963764377","https://openalex.org/W1968250996","https://openalex.org/W1975705189","https://openalex.org/W1985015740","https://openalex.org/W1988740729","https://openalex.org/W1990390017","https://openalex.org/W1996178390","https://openalex.org/W1996734132","https://openalex.org/W2004758971","https://openalex.org/W2005040591","https://openalex.org/W2010607480","https://openalex.org/W2013726581","https://openalex.org/W2027791971","https://openalex.org/W2028763197","https://openalex.org/W2037158133","https://openalex.org/W2054598075","https://openalex.org/W2095458047","https://openalex.org/W2103314560","https://openalex.org/W2113040397","https://openalex.org/W2150752917","https://openalex.org/W2150903279","https://openalex.org/W2153881181","https://openalex.org/W2161611447","https://openalex.org/W2163000058","https://openalex.org/W2166213615","https://openalex.org/W2169332831","https://openalex.org/W2295794450","https://openalex.org/W2600258665","https://openalex.org/W2621919695","https://openalex.org/W4285719527","https://openalex.org/W6634499339","https://openalex.org/W6735641009"],"related_works":["https://openalex.org/W2364197227","https://openalex.org/W2353550828","https://openalex.org/W4225886664","https://openalex.org/W1987738811","https://openalex.org/W2041762612","https://openalex.org/W2366666218","https://openalex.org/W1974412727","https://openalex.org/W3195913282","https://openalex.org/W3121327295","https://openalex.org/W2125376475"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,41,69,105,112],"two-dimensional,":[3],"vision-based":[4],"force":[5,20,100],"sensor,":[6],"capable":[7],"of":[8,40,58,78,98,108],"sensing":[9],"muN":[10],"level":[11],"forces.":[12],"There":[13],"are":[14,102],"currently":[15],"no":[16],"reliable,":[17],"off-the-shelf,":[18],"commercially-available":[19],"sensors":[21],"to":[22,54,65,111],"measure":[23],"forces":[24,86],"at":[25],"this":[26],"scale,":[27],"that":[28],"can":[29,87],"be":[30,88],"easily":[31],"integrated":[32],"into":[33],"standard":[34],"microrobotic":[35],"test-beds.":[36],"Our":[37],"design":[38],"consists":[39],"planar,":[42],"elastic":[43],"mechanism":[44,60],"with":[45,104],"known":[46],"force-deflection":[47],"characteristics.":[48],"A":[49],"CCD":[50],"camera":[51],"is":[52,63],"used":[53,64],"track":[55],"the":[56,59,76,82,84,99],"deformation":[57],"as":[61,117],"it":[62],"manipulate":[66],"objects":[67],"in":[68,81],"micro/meso-scale":[70],"robotic":[71,113],"manipulation":[72,85,114],"test-bed.":[73],"By":[74],"observing":[75],"displacements":[77],"select":[79],"points":[80],"mechanism,":[83],"estimated.":[89],"The":[90],"modeling,":[91],"design,":[92],"microfabrication,":[93],"calibration":[94],"and":[95],"experimental":[96],"validation":[97],"sensor":[101],"presented":[103],"brief":[106],"discussion":[107],"an":[109],"application":[110],"tasks":[115],"such":[116],"microassembly.":[118]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
