{"id":"https://openalex.org/W4309679333","doi":"https://doi.org/10.1109/smc53654.2022.9945388","title":"TacRot: A Parallel-Jaw Gripper with Rotatable Tactile Sensors for In-Hand Manipulation","display_name":"TacRot: A Parallel-Jaw Gripper with Rotatable Tactile Sensors for In-Hand Manipulation","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309679333","doi":"https://doi.org/10.1109/smc53654.2022.9945388"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945388","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5060222566","display_name":"Wuyi Zhang","orcid":"https://orcid.org/0009-0006-1305-4253"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wuyi Zhang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014423743","display_name":"Chongkun Xia","orcid":"https://orcid.org/0000-0001-5396-7643"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chongkun Xia","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102495080","display_name":"Xiaojun Zhu","orcid":"https://orcid.org/0000-0003-2591-7918"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Zhu","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,School of Automation,Beijing,China.,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,School of Automation,Beijing,China.,100876","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School,Center for Artificial Intelligence and Robotics,Shenzhen,China.,518055","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Navigation and Control Research Center,Department of Automation,Beijing,China.,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Navigation and Control Research Center,Department of Automation,Beijing,China.,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.991,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93891798,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"423","last_page":"429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987000226974487,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.7053349018096924},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7048607468605042},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.704074501991272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6220614314079285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5847482681274414},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.5796476602554321},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5531724691390991},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.49192357063293457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.451124370098114},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.44845128059387207},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.44170454144477844},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4273269474506378},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41440698504447937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23902741074562073},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13110747933387756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09004569053649902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08825045824050903}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7053349018096924},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7048607468605042},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.704074501991272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6220614314079285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5847482681274414},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.5796476602554321},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5531724691390991},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.49192357063293457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.451124370098114},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.44845128059387207},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.44170454144477844},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4273269474506378},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41440698504447937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23902741074562073},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13110747933387756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09004569053649902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08825045824050903},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53654.2022.9945388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945388","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1638097848","https://openalex.org/W1995213905","https://openalex.org/W2063822181","https://openalex.org/W2161486070","https://openalex.org/W2569244399","https://openalex.org/W2687523990","https://openalex.org/W2775635818","https://openalex.org/W2891180265","https://openalex.org/W2918787076","https://openalex.org/W2962688712","https://openalex.org/W2967378496","https://openalex.org/W3003449769","https://openalex.org/W3090308831","https://openalex.org/W3090599104","https://openalex.org/W3130633756","https://openalex.org/W3131146938","https://openalex.org/W3132429298","https://openalex.org/W3138117074","https://openalex.org/W3142545321","https://openalex.org/W3186174046","https://openalex.org/W3192021195","https://openalex.org/W3205115400","https://openalex.org/W6728817809","https://openalex.org/W6789049409","https://openalex.org/W6792072550"],"related_works":["https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W4386100501","https://openalex.org/W1979945082","https://openalex.org/W2614950215","https://openalex.org/W3128324021","https://openalex.org/W2051344763","https://openalex.org/W4225960925","https://openalex.org/W2124146082"],"abstract_inverted_index":{"Finger":[0],"dexterity":[1],"and":[2,40,65,75,128,142,152],"tactile":[3,36,56,162],"perception":[4],"are":[5,125],"key":[6],"capabilities":[7],"for":[8,113,120,165],"humans":[9],"to":[10,158],"manipulate":[11],"objects":[12],"within":[13],"hand,":[14],"as":[15,17],"well":[16],"robots.":[18],"Inspired":[19],"by":[20],"the":[21,42,50,54,63,68,97,101,160],"thumb-forefinger":[22],"dexterous":[23],"manipulative":[24],"movement,":[25],"we":[26,58,77,103],"devised":[27],"a":[28,45,79,136,144,155],"novel":[29],"robotic":[30],"finger":[31,43],"with":[32,83,146],"an":[33],"active":[34,161],"rotational":[35,98],"sensor":[37],"(i.e.":[38],"TacRot),":[39],"mounted":[41],"on":[44,96],"parallel-jaw":[46,167],"gripper.":[47],"By":[48],"processing":[49],"high-resolution":[51],"images":[52],"of":[53,62,67],"vision-based":[55],"sensor,":[57],"achieved":[59],"depth":[60],"reconstruction":[61],"surface":[64],"localization":[66],"contact":[69,85],"area.":[70],"To":[71],"improve":[72],"gripping":[73],"flexibility":[74],"stability,":[76],"applied":[78],"self-adaptive":[80],"grasping":[81],"strategy":[82],"real-time":[84],"detection":[86],"feedback,":[87],"which":[88],"performed":[89],"94%":[90],"success":[91],"rate":[92],"in":[93,131],"experiment.":[94],"Based":[95],"actuator":[99],"at":[100],"fingertip,":[102],"proposed":[104],"two":[105,132],"in-hand":[106],"manipulation":[107,163],"primitives:":[108],"(1)":[109],"pivot:":[110],"fingertips":[111,118],"co-rotating":[112],"object":[114,121],"reorientation;":[115],"(2)":[116],"twist:":[117],"contra-rotating":[119],"spin.":[122],"The":[123],"primitives":[124],"theoretically":[126],"analyzed":[127],"experimentally":[129],"verified":[130],"practical":[133],"tasks:":[134],"pivoting":[135],"paper":[137],"cup":[138],"under":[139],"vertical":[140],"constraints":[141],"twisting":[143],"screw":[145],"spin":[147],"angle":[148],"estimation.":[149],"Our":[150],"design":[151],"experiments":[153],"demonstrate":[154],"feasible":[156],"way":[157],"enhance":[159],"ability":[164],"common":[166],"grippers.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}