{"id":"https://openalex.org/W3038052841","doi":"https://doi.org/10.1109/tase.2020.3001269","title":"SkinSim: A Design and Simulation Tool for Robot Skin With Closed-Loop pHRI Controllers","display_name":"SkinSim: A Design and Simulation Tool for Robot Skin With Closed-Loop pHRI Controllers","publication_year":2020,"publication_date":"2020-06-24","ids":{"openalex":"https://openalex.org/W3038052841","doi":"https://doi.org/10.1109/tase.2020.3001269","mag":"3038052841"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.3001269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.3001269","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5049158544","display_name":"Sven Cremer","orcid":"https://orcid.org/0000-0002-8889-0508"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sven Cremer","raw_affiliation_strings":["Department of Electrical Engineering, The University of Texas at Arlington, Arlington, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-8889-0508","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028607380","display_name":"Mohammad Nasser Saadatzi","orcid":"https://orcid.org/0000-0001-8489-9014"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad N. Saadatzi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA"],"raw_orcid":"https://orcid.org/0000-0001-8489-9014","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031605056","display_name":"Indika B. Wijayasinghe","orcid":"https://orcid.org/0000-0002-0693-7078"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Indika B. Wijayasinghe","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014589091","display_name":"Sumit Kumar Das","orcid":"https://orcid.org/0000-0003-0361-6970"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sumit K. Das","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA"],"raw_orcid":"https://orcid.org/0000-0003-0361-6970","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053379621","display_name":"Mohammad Hossein Saadatzi","orcid":null},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad H. Saadatzi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089902968","display_name":"Dan O. Popa","orcid":"https://orcid.org/0000-0002-2360-0020"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan O. Popa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5158,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.57417797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"18","issue":"3","first_page":"1302","last_page":"1314"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9988999962806702,"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/controller","display_name":"Controller (irrigation)","score":0.621147096157074},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6101009845733643},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6086097359657288},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5996861457824707},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5991844534873962},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5386308431625366},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.48535457253456116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45143231749534607},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4148099720478058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39916670322418213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39678582549095154},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37420472502708435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17327892780303955},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.13567721843719482},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09073233604431152}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.621147096157074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6101009845733643},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6086097359657288},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5996861457824707},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5991844534873962},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5386308431625366},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.48535457253456116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45143231749534607},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4148099720478058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39916670322418213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39678582549095154},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37420472502708435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17327892780303955},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.13567721843719482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09073233604431152},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2020.3001269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.3001269","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4299244468","display_name":null,"funder_award_id":"IIS#1208623","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5057481851","display_name":null,"funder_award_id":"IIP#1643989","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G870553320","display_name":null,"funder_award_id":"MRI#1828355","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W646286238","https://openalex.org/W1670240153","https://openalex.org/W1930968146","https://openalex.org/W1970287347","https://openalex.org/W1994004122","https://openalex.org/W1998470615","https://openalex.org/W1999447019","https://openalex.org/W2001381166","https://openalex.org/W2002725123","https://openalex.org/W2010809308","https://openalex.org/W2014972957","https://openalex.org/W2032895210","https://openalex.org/W2056905368","https://openalex.org/W2072820088","https://openalex.org/W2081171112","https://openalex.org/W2082511574","https://openalex.org/W2095249062","https://openalex.org/W2100966900","https://openalex.org/W2102253276","https://openalex.org/W2112645080","https://openalex.org/W2114628570","https://openalex.org/W2128228192","https://openalex.org/W2145805247","https://openalex.org/W2149187245","https://openalex.org/W2167339603","https://openalex.org/W2167340365","https://openalex.org/W2170056281","https://openalex.org/W2170553811","https://openalex.org/W2171130677","https://openalex.org/W2344043128","https://openalex.org/W2901136733","https://openalex.org/W2911918145","https://openalex.org/W2943963641","https://openalex.org/W2962915406","https://openalex.org/W2971268498","https://openalex.org/W6670833939","https://openalex.org/W6756486208","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W4377820486","https://openalex.org/W2132353065","https://openalex.org/W4377825843","https://openalex.org/W2889951799","https://openalex.org/W2626571124","https://openalex.org/W2381304112","https://openalex.org/W2962749641","https://openalex.org/W3107721637","https://openalex.org/W1973539555","https://openalex.org/W3184876520"],"abstract_inverted_index":{"The":[0,73,307],"importance":[1],"of":[2,57,77,115,125,166,226,242,272,286,291],"tactile":[3,23,100,130,244],"sensing":[4,58,101,292],"for":[5,22,48,112,246,254],"physical":[6,255],"human\u2013robot":[7,256],"interaction":[8],"(pHRI)":[9],"and":[10,61,68,83,90,148,171,177,221,239,266,275,295,302,315],"dexterous":[11],"manipulation":[12],"is":[13,17,79],"well":[14,98],"known.":[15],"SkinSim":[16,78,280],"a":[18,119,155,213,227],"novel":[19],"simulation":[20,75,114,143,211,281],"environment":[21,282],"robot":[24,51,84,93,126,197],"skins":[25,287],"in":[26,34,118,187,210],"which":[27],"one":[28],"can":[29,309],"study":[30],"design":[31],"tradeoffs":[32,260,320],"involved":[33],"deploying":[35],"whole-body,":[36],"dense":[37],"sensor":[38,151,189,252,263],"arrays.":[39],"In":[40],"this":[41],"article,":[42],"scalable":[43],"modeling":[44],"approaches":[45],"are":[46,132,259],"presented":[47,133],"simulating":[49],"pressure-sensitive":[50,250],"skin":[52,94,127,150,198,215,245],"patches,":[53],"with":[54,81,128,212,288],"simultaneous":[55,289],"consideration":[56,290],"element":[59,102,293],"geometry":[60,294],"mechanical":[62,120,296],"structure,":[63,297],"signal":[64,173,298],"quality,":[65,299],"data":[66,300],"processing,":[67,301],"closed-loop":[69,303],"force":[70,107,304],"controller":[71,158,191,305],"performance.":[72,306],"open-source":[74],"architecture":[76],"compatible":[80],"Gazebo":[82],"operating":[85],"system":[86],"(ROS)":[87],"programming":[88],"environments":[89],"supports":[91],"both":[92],"dynamic":[95],"models,":[96],"as":[97,99],"models.":[103],"An":[104],"experimentally":[105,146],"validated":[106,147],"dispersion":[108],"model":[109],"was":[110,160,234],"introduced":[111],"the":[113,149,224,237,279,318],"sensors":[116],"embedded":[117],"damping":[121],"layer.":[122],"Simulation":[123],"examples":[124],"different":[129],"resolutions":[131],"using":[134],"parameter":[135],"values":[136],"extracted":[137],"from":[138],"an":[139],"experimental":[140],"testbed.":[141],"Thus,":[142],"results":[144,207],"were":[145,208],"density":[152],"impact":[153],"on":[154,223],"simple":[156],"pHRI":[157],"performance":[159,192],"evaluated.":[161],"Performance":[162],"measures":[163],"include":[164],"center":[165],"pressure":[167],"(COP)":[168],"estimation":[169],"error":[170],"control":[172],"settling":[174],"time,":[175,268],"overshoot,":[176],"steady-state":[178],"errors.":[179],"Results":[180],"suggest":[181],"that":[182],"while":[183],"COP":[184],"errors":[185],"decrease":[186],"denser":[188],"skins,":[190],"also":[193],"deteriorates.":[194],"Therefore,":[195],"optimal":[196],"designs":[199],"will":[200],"have":[201],"to":[202,231,262,313],"consider":[203],"application-dependent":[204],"tradeoffs.":[205],"Similar":[206],"confirmed":[209],"larger":[214],"patch":[216],"containing":[217],"approximately":[218],"4000":[219],"tactels":[220],"deployed":[222],"end-effector":[225],"collaborative":[228],"mobile":[229],"manipulator.Note":[230],"Practitioners\u2014This":[232],"article":[233],"motivated":[235],"by":[236],"expensive":[238],"time-consuming":[240],"process":[241],"designing":[243,249],"robots.":[247],"When":[248],"whole-body":[251],"arrays":[253],"interaction,":[257],"there":[258],"related":[261],"resolution,":[264],"accuracy,":[265],"response":[267],"among":[269],"others.":[270],"Instead":[271],"building":[273],"prototypes":[274],"evaluating":[276],"them":[277],"experimentally,":[278],"allows":[283],"automatic":[284],"testing":[285],"user":[308],"specify":[310],"several":[311],"configurations":[312],"test":[314],"thereby":[316],"explore":[317],"best":[319],"before":[321],"actually":[322],"prototyping":[323],"any":[324],"hardware.":[325]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}