{"id":"https://openalex.org/W4324116557","doi":"https://doi.org/10.1109/tim.2023.3256477","title":"Instrumenting a Robotic Finger to Augment the Capabilities of Robotic Grippers","display_name":"Instrumenting a Robotic Finger to Augment the Capabilities of Robotic Grippers","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4324116557","doi":"https://doi.org/10.1109/tim.2023.3256477"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3256477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3256477","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5045906561","display_name":"Rocco Antonio Romeo","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Rocco Antonio Romeo","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5217-6663","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054238819","display_name":"Agata Zocco","orcid":"https://orcid.org/0000-0002-3784-2864"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Agata Zocco","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3784-2864","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072707307","display_name":"Alberto Parmiggiani","orcid":"https://orcid.org/0000-0003-1677-9381"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Parmiggiani","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1677-9381","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055312054","display_name":"Andrea Mura","orcid":"https://orcid.org/0000-0001-9589-9685"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Mura","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9589-9685","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052796692","display_name":"Michele Gesino","orcid":"https://orcid.org/0000-0002-7377-9831"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Gesino","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7377-9831","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055080896","display_name":"Marco Accame","orcid":"https://orcid.org/0000-0002-4898-3849"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Accame","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4898-3849","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010296609","display_name":"Marco Maggiali","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Maggiali","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6142-5545","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054737335","display_name":"Luca Fiorio","orcid":"https://orcid.org/0000-0003-1424-8341"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Fiorio","raw_affiliation_strings":["I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1424-8341","affiliations":[{"raw_affiliation_string":"I-Cub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, i-Cub Tech Facility, Via San Quirico 19d, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5045906561"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.8967,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72982755,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9933000206947327,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9861000180244446,"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":0.9051438570022583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6838858127593994},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6804099082946777},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5345401167869568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4617941379547119},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.44056516885757446},{"id":"https://openalex.org/keywords/instrumentation","display_name":"Instrumentation (computer programming)","score":0.4385402798652649},{"id":"https://openalex.org/keywords/electronics","display_name":"Electronics","score":0.43430429697036743},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.434209406375885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4206911623477936},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4152514934539795},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.41421234607696533},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3812580406665802},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33902406692504883},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.307245135307312},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.25868117809295654}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9051438570022583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6838858127593994},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6804099082946777},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5345401167869568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4617941379547119},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.44056516885757446},{"id":"https://openalex.org/C118530786","wikidata":"https://www.wikidata.org/wiki/Q1134732","display_name":"Instrumentation (computer programming)","level":2,"score":0.4385402798652649},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.43430429697036743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.434209406375885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4206911623477936},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4152514934539795},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.41421234607696533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3812580406665802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33902406692504883},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.307245135307312},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.25868117809295654},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3256477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3256477","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1970495039","https://openalex.org/W1993026862","https://openalex.org/W1995213905","https://openalex.org/W2029737053","https://openalex.org/W2140603241","https://openalex.org/W2169222114","https://openalex.org/W2204624255","https://openalex.org/W2533621232","https://openalex.org/W2793975836","https://openalex.org/W2900898322","https://openalex.org/W2955383310","https://openalex.org/W3004201765","https://openalex.org/W3008950361","https://openalex.org/W3016926102","https://openalex.org/W3041148233","https://openalex.org/W3090679498","https://openalex.org/W3101396459","https://openalex.org/W3118742143","https://openalex.org/W3130235974","https://openalex.org/W3135403211","https://openalex.org/W3159584042","https://openalex.org/W3185050715","https://openalex.org/W3209058326","https://openalex.org/W4226225950"],"related_works":["https://openalex.org/W1976950967","https://openalex.org/W2076754931","https://openalex.org/W1564079087","https://openalex.org/W1516164006","https://openalex.org/W2973183922","https://openalex.org/W2995019253","https://openalex.org/W3174748874","https://openalex.org/W2384349571","https://openalex.org/W4327500006","https://openalex.org/W2155126949"],"abstract_inverted_index":{"Robots":[0],"are":[1,143],"helping":[2],"humans":[3,12],"perform":[4],"tasks,":[5],"especially":[6],"in":[7],"industry.":[8],"The":[9,72,94,156],"collaboration":[10],"between":[11],"and":[13,103,153,161,163,188,217],"machines":[14],"is":[15,62,96,158],"considered":[16],"to":[17,52,98,109],"be":[18,41,86,127,193,198],"among":[19],"the":[20,24,59,66,70,100,104,122,132,135,149,154,169,175,178,200],"principal":[21],"factors":[22],"underlying":[23],"so":[25],"called":[26],"<italic":[27],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[28],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Industry":[29],"4.0</i>":[30],".":[31],"To":[32],"boost":[33],"such":[34,91,181],"a":[35,44,53,78,117,165,204,210],"form":[36],"of":[37,47,69,124,171,184,190,220],"collaboration,":[38],"robots":[39],"could":[40],"provided":[42],"with":[43],"higher":[45],"degree":[46],"instrumentation,":[48],"which":[49,121,147],"undoubtedly":[50],"resorts":[51],"reliable":[54],"sensorization.":[55],"In":[56,174],"this":[57],"regard,":[58],"robot":[60],"end-effector":[61],"central,":[63],"being":[64],"often":[65],"interaction":[67],"organ":[68],"robot.":[71],"present":[73,176],"article":[74],"aims":[75],"at":[76],"delivering":[77],"device,":[79],"namely":[80],"instrumented":[81],"finger":[82],"(IF),":[83],"that":[84],"can":[85,126],"mounted":[87,208],"on":[88,203,209],"robotic":[89,172,211],"end-effectors":[90],"as":[92,129,131,182],"grippers.":[93,173],"device":[95,136,157],"able":[97],"sense":[99],"grasping":[101],"force":[102],"associated":[105],"bending":[106],"moment":[107],"thanks":[108],"an":[110,139],"integrated":[111],"load":[112],"cell.":[113],"It":[114],"has":[115],"also":[116],"tactile":[118],"matrix":[119],"through":[120],"center":[123,189],"pressure":[125],"determined,":[128],"well":[130],"slip.":[133],"Further,":[134,195],"electronics":[137],"includes":[138],"inertial":[140],"sensor.":[141],"Cables":[142],"protected":[144],"by":[145],"covers":[146],"hide":[148],"inner":[150],"metallic":[151],"body":[152],"electronics.":[155],"compact,":[159],"robust":[160],"precise,":[162],"constitute":[164],"promising":[166],"solution":[167],"for":[168],"instrumentation":[170],"article,":[177],"IF":[179,201],"functionalities,":[180],"measurement":[183],"force,":[185],"torque,":[186],"acceleration":[187],"pressure,":[191],"will":[192,197],"demonstrated.":[194],"it":[196],"shown":[199],"integration":[202],"real":[205],"industrial":[206],"gripper":[207],"arm,":[212],"executing":[213],"slip":[214],"compensation":[215],"experiments":[216],"mass":[218],"estimation":[219],"grasped":[221],"items.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}