{"id":"https://openalex.org/W4229368722","doi":"https://doi.org/10.3390/robotics11030058","title":"Multi-Layered Carbon-Black/Elastomer-Composite-Based Shielded Stretchable Capacitive Sensors for the Underactuated Robotic Hand","display_name":"Multi-Layered Carbon-Black/Elastomer-Composite-Based Shielded Stretchable Capacitive Sensors for the Underactuated Robotic Hand","publication_year":2022,"publication_date":"2022-05-07","ids":{"openalex":"https://openalex.org/W4229368722","doi":"https://doi.org/10.3390/robotics11030058"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11030058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11030058","pdf_url":"https://www.mdpi.com/2218-6581/11/3/58/pdf?version=1652248544","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/3/58/pdf?version=1652248544","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024247649","display_name":"Shi Yong","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]},{"id":"https://openalex.org/I55022517","display_name":"Heilongjiang University","ror":"https://ror.org/04zyhq975","country_code":"CN","type":"education","lineage":["https://openalex.org/I55022517"]}],"countries":["CN","NZ"],"is_corresponding":false,"raw_author_name":"Shi Yong","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Heilongjiang, Harbin 150080, China","Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland 1010, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Heilongjiang, Harbin 150080, China","institution_ids":["https://openalex.org/I55022517"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland 1010, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081816543","display_name":"Kean C. Aw","orcid":"https://orcid.org/0000-0001-9308-508X"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Kean Aw","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland 1010, New Zealand"],"raw_orcid":"https://orcid.org/0000-0001-9308-508X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland 1010, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081816543"],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.8993,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.69263971,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"11","issue":"3","first_page":"58","last_page":"58"},"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":1.0,"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":1.0,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9994999766349792,"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/T10660","display_name":"Conducting polymers and applications","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.9080303907394409},{"id":"https://openalex.org/keywords/gauge-factor","display_name":"Gauge factor","score":0.7610737085342407},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.7059503793716431},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.697216272354126},{"id":"https://openalex.org/keywords/conformable-matrix","display_name":"Conformable matrix","score":0.6543740034103394},{"id":"https://openalex.org/keywords/carbon-black","display_name":"Carbon black","score":0.5907725095748901},{"id":"https://openalex.org/keywords/shielded-cable","display_name":"Shielded cable","score":0.5479223728179932},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.47001364827156067},{"id":"https://openalex.org/keywords/electromagnetic-shielding","display_name":"Electromagnetic shielding","score":0.46098029613494873},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.4557575285434723},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.4548240005970001},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.35516682267189026},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.34798097610473633},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.26460957527160645},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.14112108945846558},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13318869471549988}],"concepts":[{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.9080303907394409},{"id":"https://openalex.org/C2777403436","wikidata":"https://www.wikidata.org/wiki/Q5527632","display_name":"Gauge factor","level":4,"score":0.7610737085342407},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.7059503793716431},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.697216272354126},{"id":"https://openalex.org/C86072612","wikidata":"https://www.wikidata.org/wiki/Q5160239","display_name":"Conformable matrix","level":2,"score":0.6543740034103394},{"id":"https://openalex.org/C44038986","wikidata":"https://www.wikidata.org/wiki/Q764245","display_name":"Carbon black","level":3,"score":0.5907725095748901},{"id":"https://openalex.org/C77590175","wikidata":"https://www.wikidata.org/wiki/Q3506009","display_name":"Shielded cable","level":2,"score":0.5479223728179932},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.47001364827156067},{"id":"https://openalex.org/C2265751","wikidata":"https://www.wikidata.org/wiki/Q332007","display_name":"Electromagnetic shielding","level":2,"score":0.46098029613494873},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.4557575285434723},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.4548240005970001},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.35516682267189026},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.34798097610473633},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.26460957527160645},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.14112108945846558},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13318869471549988},{"id":"https://openalex.org/C176933379","wikidata":"https://www.wikidata.org/wiki/Q131877","display_name":"Natural rubber","level":2,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11030058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11030058","pdf_url":"https://www.mdpi.com/2218-6581/11/3/58/pdf?version=1652248544","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0f0326387d9545c1bc1fbd714cc8dee0","is_oa":true,"landing_page_url":"https://doaj.org/article/0f0326387d9545c1bc1fbd714cc8dee0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 3, p 58 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/3/58/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11030058","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 11; Issue 3; Pages: 58","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11030058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11030058","pdf_url":"https://www.mdpi.com/2218-6581/11/3/58/pdf?version=1652248544","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4229368722.pdf","grobid_xml":"https://content.openalex.org/works/W4229368722.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W623420257","https://openalex.org/W971303027","https://openalex.org/W1843167350","https://openalex.org/W1978464142","https://openalex.org/W1983156320","https://openalex.org/W1994827801","https://openalex.org/W2019164399","https://openalex.org/W2021094164","https://openalex.org/W2344872270","https://openalex.org/W2561603693","https://openalex.org/W2765525879","https://openalex.org/W2765589304","https://openalex.org/W2766960968","https://openalex.org/W2790584872","https://openalex.org/W2891010926","https://openalex.org/W2900399182","https://openalex.org/W2915600677","https://openalex.org/W2943351324","https://openalex.org/W2948714526","https://openalex.org/W2955534043","https://openalex.org/W2963263790","https://openalex.org/W2971885512","https://openalex.org/W2988534416","https://openalex.org/W3005267195","https://openalex.org/W3037586546","https://openalex.org/W3038113514","https://openalex.org/W3042530228","https://openalex.org/W3092690994","https://openalex.org/W3118729236","https://openalex.org/W3121539059","https://openalex.org/W3140568255","https://openalex.org/W3157488119","https://openalex.org/W3158639102","https://openalex.org/W3178171475","https://openalex.org/W3205206749","https://openalex.org/W4200406686","https://openalex.org/W4214859434","https://openalex.org/W6792350754"],"related_works":["https://openalex.org/W2937491694","https://openalex.org/W2558746723","https://openalex.org/W4308131477","https://openalex.org/W3037709338","https://openalex.org/W4385473703","https://openalex.org/W4401018364","https://openalex.org/W4285119458","https://openalex.org/W2886419400","https://openalex.org/W2403156747","https://openalex.org/W3202549150"],"abstract_inverted_index":{"Soft":[0],"and":[1,29,88,124,133,141,168],"flexible":[2],"strain":[3,102],"sensors":[4,147],"are":[5,98],"becoming":[6],"popular":[7],"for":[8],"many":[9],"robotic":[10,40,152],"applications.":[11],"This":[12],"article":[13],"presents":[14],"a":[15,21,52,118],"stretchable":[16],"capacitive":[17,73,91,128],"sensor":[18,57,67,116],"by":[19],"combining":[20],"conductive":[22],"filler":[23],"of":[24,121,127,130,138,163],"carbon":[25],"black":[26],"with":[27,43],"elastomers":[28],"implementing":[30],"shielding":[31],"to":[32,37,55,100,149,158],"reduce":[33],"parasitic":[34],"interference,":[35],"applied":[36],"an":[38,150],"underactuated":[39,151],"hand.":[41],"Sensors":[42],"different":[44],"configurations":[45,68],"were":[46,69],"explored.":[47],"The":[48,104,112,145],"results":[49],"show":[50],"that":[51],"shield":[53],"introduced":[54],"the":[56,77,82,86,95,101,125,155,160,164],"does":[58],"have":[59],"some":[60],"mitigation":[61],"effect":[62],"on":[63],"external":[64],"interference.":[65],"Two":[66],"explored:":[70],"longitudinal":[71],"interdigitated":[72,78,90,96],"(LIDC)":[74],"sensor,":[75,93],"where":[76,94],"fingers":[79,97],"lie":[80],"along":[81],"same":[83],"axis":[84],"as":[85],"strain,":[87],"transverse":[89],"(TIDC)":[92],"orthogonal":[99],"direction.":[103],"LIDC":[105,115,146],"configuration":[106],"had":[107,117],"better":[108],"performance":[109],"than":[110],"TIDC.":[111],"fabricated":[113],"two-layered":[114],"gage":[119],"factor":[120],"0.15":[122],"pF/mm":[123],"rates":[126],"creep":[129],"0.000667":[131],"pF/s":[132,135],"0.001":[134],"at":[136],"loads":[137],"120":[139],"g":[140],"180":[142],"g,":[143],"respectively.":[144],"attached":[148],"hand":[153],"demonstrate":[154],"sensors\u2019":[156],"ability":[157],"determine":[159],"bending":[161],"angles":[162],"proximal":[165],"interphalangeal":[166],"(PIP)":[167],"metacarpophalangeal":[169],"(MCP)":[170],"joints.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}