{"id":"https://openalex.org/W4411019163","doi":"https://doi.org/10.1109/robosoft63089.2025.11020840","title":"Magnetic Sensing for Proprioception of Rolling Contact Joints","display_name":"Magnetic Sensing for Proprioception of Rolling Contact Joints","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019163","doi":"https://doi.org/10.1109/robosoft63089.2025.11020840"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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/A5056682074","display_name":"Michelle C. Yuen","orcid":"https://orcid.org/0000-0002-5047-9633"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michelle C. Yuen","raw_affiliation_strings":["Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA"],"affiliations":[{"raw_affiliation_string":"Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020093839","display_name":"Colter J. Decker","orcid":"https://orcid.org/0000-0002-3458-2892"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colter J. Decker","raw_affiliation_strings":["Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA"],"affiliations":[{"raw_affiliation_string":"Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705377","display_name":"Tony G. Chen","orcid":"https://orcid.org/0000-0003-0788-9351"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tony G. Chen","raw_affiliation_strings":["Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA"],"affiliations":[{"raw_affiliation_string":"Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Wood","raw_affiliation_strings":["Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA"],"affiliations":[{"raw_affiliation_string":"Harvard University,John A. Paulson School of Engineering & Applied Sciences,Allston,MA,USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056682074"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":0.7401,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69422067,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12169","display_name":"Non-Destructive Testing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12169","display_name":"Non-Destructive Testing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9987999796867371,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/proprioception","display_name":"Proprioception","score":0.49144089221954346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45037946105003357},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3284831643104553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27091777324676514},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14801207184791565},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07602384686470032}],"concepts":[{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.49144089221954346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45037946105003357},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3284831643104553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27091777324676514},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14801207184791565},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07602384686470032}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1998756577","https://openalex.org/W2034747299","https://openalex.org/W2129722949","https://openalex.org/W2146434325","https://openalex.org/W2510090742","https://openalex.org/W2735761006","https://openalex.org/W2899283552","https://openalex.org/W2901582285","https://openalex.org/W2943200793","https://openalex.org/W2963285996","https://openalex.org/W2963486077","https://openalex.org/W3015115976","https://openalex.org/W3036975756","https://openalex.org/W3037722175","https://openalex.org/W3127293012","https://openalex.org/W3129522822","https://openalex.org/W3148946639","https://openalex.org/W3216653331","https://openalex.org/W4221145709","https://openalex.org/W4293731895","https://openalex.org/W4312065141","https://openalex.org/W4319459151","https://openalex.org/W4389074111","https://openalex.org/W4390985370","https://openalex.org/W4396853506"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2053711990","https://openalex.org/W1593152772","https://openalex.org/W2006407928","https://openalex.org/W2298182222"],"abstract_inverted_index":{"Rolling":[0],"contact":[1,83,175,197],"joints":[2,84,203],"are":[3,61],"an":[4,71],"advantageous":[5],"building":[6],"block":[7],"for":[8,192,204],"soft-rigid":[9],"hybrid":[10,206],"robots":[11],"due":[12],"to":[13,19,85,119,126,133],"their":[14],"out-of-plane":[15],"compliance,":[16],"low":[17,180],"resistance":[18],"bending,":[20],"and":[21,36,89,108,124,141,152,164,174,184],"wide":[22],"range":[23],"of":[24,47,97,105,111,149,160],"motion.":[25],"Typically,":[26],"proprioception":[27,194],"in":[28,195],"these":[29],"cable-driven":[30],"mechanisms":[31],"is":[32,56,64,117,155],"achieved":[33],"through":[34],"torque":[35],"position":[37,49,88,123],"sensors":[38],"at":[39],"the":[40,54,59,68,94,103,106,109,112,121,127,131,147,158,161,170],"servomotor":[41],"actuator.":[42],"However,":[43],"this":[44,98,135,150],"indirect":[45],"measurement":[46],"joint":[48,87,122,139,171],"can":[50,168],"be":[51],"inaccurate":[52],"when":[53],"system":[55,167],"non-ideal":[57],"(e.g.,":[58],"cables":[60],"extensible,":[62],"friction":[63],"not":[65],"negligible,":[66],"or":[67],"linkage":[69],"encounters":[70],"external":[72],"disturbance).":[73],"Here,":[74],"we":[75],"introduce":[76],"a":[77,190],"magnetic":[78,99,162],"sensor":[79,100,136],"integrated":[80],"into":[81],"rolling":[82,196],"measure":[86],"force.":[90],"We":[91,144],"then":[92],"explore":[93],"design":[95],"space":[96],"by":[101],"varying":[102],"orientation":[104],"magnets":[107],"stiffness":[110],"magnetoelastomer.":[113],"A":[114],"multilayer":[115],"perceptron":[116],"used":[118],"relate":[120],"force":[125],"magnetometer":[128],"readings,":[129],"providing":[130],"flexibility":[132],"use":[134],"with":[137,157,177],"various":[138],"geometries":[140],"sensing":[142,151],"modalities.":[143],"find":[145],"that":[146,165],"accuracy":[148],"modeling":[153],"approach":[154],"coupled":[156],"configuration":[159],"elements,":[163],"our":[166],"predict":[169],"angle,":[172],"twist,":[173],"forces":[176],"errors":[178],"as":[179,181],"1.6%,":[182],"0.1%,":[183],"8.8%,":[185],"respectively.":[186],"This":[187],"work":[188],"describes":[189],"method":[191],"enabling":[193],"joints,":[198],"and,":[199],"more":[200],"broadly,":[201],"compliant":[202],"rigid-soft":[205],"robots.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}