{"id":"https://openalex.org/W2489540102","doi":"https://doi.org/10.1109/biorob.2016.7523638","title":"Design of a flexible force-sensing platform for medical ultrasound probes","display_name":"Design of a flexible force-sensing platform for medical ultrasound probes","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2489540102","doi":"https://doi.org/10.1109/biorob.2016.7523638","mag":"2489540102"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5012802706","display_name":"Adrian Schoisengeier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Adrian Schoisengeier","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073776552","display_name":"Lukas Lindenroth","orcid":"https://orcid.org/0000-0002-9108-4574"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lukas Lindenroth","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052100121","display_name":"Junghwan Back","orcid":"https://orcid.org/0000-0002-9788-9269"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junghwan Back","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077600979","display_name":"Chen Qiu","orcid":"https://orcid.org/0000-0002-7542-7557"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Qiu","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107963334","display_name":"Yohan Noh","orcid":"https://orcid.org/0000-0002-1103-6397"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yohan Noh","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jian S Dai","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001083475","display_name":"Kawal Rhode","orcid":"https://orcid.org/0000-0002-4707-7318"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kawal Rhode","raw_affiliation_strings":["Biomedical Engineering Department, King's College, London"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, King's College, London","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Department of Informatics, Centre for Robotics Research, London"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Centre for Robotics Research, London","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5012802706"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.7007,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71890067,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"29","issue":null,"first_page":"278","last_page":"283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9976000189781189,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9854999780654907,"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/haptic-technology","display_name":"Haptic technology","score":0.7010071277618408},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6876201629638672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6251223683357239},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5307649970054626},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44687750935554504},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.43091264367103577},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37182533740997314},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32575029134750366},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3216279149055481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23563241958618164},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20104637742042542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09823441505432129}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7010071277618408},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6876201629638672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6251223683357239},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5307649970054626},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44687750935554504},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.43091264367103577},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37182533740997314},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32575029134750366},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3216279149055481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23563241958618164},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20104637742042542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09823441505432129},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/biorob.2016.7523638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/0c08246d-fba5-4fdf-a5f6-142efaf3adb3","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84983433410&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Schoisengeier , A , Lindenroth , L , Back , J , Qiu , C , Noh , Y , Althoefer , K , Dai , J S , Rhode , K &amp; Liu , H 2016 , Design of a flexible force-sensing platform for medical ultrasound probes . in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics . vol. 2016-July , 7523638 , pp. 278-283 , 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 , Singapore , Singapore , 26/06/2016 . https://doi.org/10.1109/BIOROB.2016.7523638","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/48163","is_oa":false,"landing_page_url":"http://qmro.qmul.ac.uk/xmlui/handle/123456789/48163","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W598735987","https://openalex.org/W1564897360","https://openalex.org/W1973037510","https://openalex.org/W1973113634","https://openalex.org/W1975502852","https://openalex.org/W1975722466","https://openalex.org/W1993012281","https://openalex.org/W1994038524","https://openalex.org/W2010487729","https://openalex.org/W2047740400","https://openalex.org/W2049091883","https://openalex.org/W2051980925","https://openalex.org/W2059714266","https://openalex.org/W2061078511","https://openalex.org/W2063930976","https://openalex.org/W2086180075","https://openalex.org/W2098538314","https://openalex.org/W2111417878","https://openalex.org/W2123951871","https://openalex.org/W2157152017","https://openalex.org/W2167751982","https://openalex.org/W2278706743","https://openalex.org/W2296149850","https://openalex.org/W2296301176","https://openalex.org/W2313149896","https://openalex.org/W2320004563","https://openalex.org/W2344522734","https://openalex.org/W4237011752","https://openalex.org/W6697744017","https://openalex.org/W6698390990"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"Automated":[0],"ultrasound":[1,14,34,64],"scanning":[2],"is":[3],"a":[4,54,78,95,99],"growing":[5],"research":[6],"field.":[7],"However,":[8],"existing":[9],"platforms":[10],"for":[11],"mounting":[12],"the":[13,26,29,51,75,89,104,110,115,126,136,141],"probe":[15],"do":[16,36],"not":[17,37],"possess":[18],"any":[19],"soft,":[20],"compliant":[21,68],"properties":[22],"that":[23,121],"would":[24],"ensure":[25],"safety":[27],"of":[28,53,77,93,103,132,143],"patient.":[30],"Moreover,":[31],"many":[32],"current":[33],"manipulators":[35],"include":[38],"tactile":[39],"feedback":[40,73],"or":[41],"employ":[42],"rather":[43],"expensive":[44],"commercial":[45,79],"force":[46,72,80,122],"sensors.":[47],"This":[48],"paper":[49],"proposes":[50],"design":[52],"flexible":[55,96],"platform":[56,105],"with":[57,66],"soft":[58],"joints.":[59],"The":[60,118],"device":[61],"equips":[62],"an":[63,130],"manipulator":[65],"both":[67],"behaviour":[69],"and":[70,109],"6-axis":[71],"without":[74],"need":[76],"sensor.":[81],"A":[82],"general":[83],"methodology":[84],"was":[85,106],"developed":[86],"to":[87,114,135],"derive":[88],"symbolic":[90],"compliance":[91],"matrix":[92],"such":[94],"mechanism.":[97],"Subsequently,":[98],"finite":[100],"element":[101],"analysis":[102],"carried":[107],"out":[108],"results":[111,119],"were":[112],"compared":[113,134],"analytical":[116,127],"solutions.":[117],"show":[120],"sensing":[123],"based":[124],"on":[125,140],"method":[128],"has":[129],"error":[131],"5-16%":[133],"FEA":[137],"simulation,":[138],"depending":[139],"degree":[142],"freedom.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
