ArticleNature communications2025
Sensing multi-directional forces at superresolution using taxel value isoline theory.
Article in Nature communications, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
3 citing papers in PubMed.
- A Bioinspired, Multimodal Soft Tactile Skin with Task-Adaptive Perception for Intelligent Robotic Manipulation.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Tactile perception through fluid-solid interaction.Nature communications · 2026Article
- High-Resolution Contact Localization and Three-Axis Force Estimation with a Sparse Strain-Node Tactile Interface Device.Sensors (Basel, Switzerland) · 2026Article
Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Robots can benefit from touch perception for enhanced interaction. Interaction involves tactile sensing devices, contact objects, and complex directional force motions (normal and shear) in between. We introduce a comprehensive theory unifying them to advance sensor design, explain shear-induced performance drops, and suggest application scenarios. Our theory, based on sensor isolines, achieves superresolution sensing with sparse units, avoiding dense layouts. Through structural analysis of the sensor perception field, force sensitivity, and contact object effects, we also explore the force direction influences: normal, tangential shear, and radial shear forces. The model predicts an inherent accuracy reduction under shear forces compared to pure normal forces. Validation used Barodome, a 3D sensor predicting contact locations and decoupling shear/normal forces. Its performance confirmed the significant impact of shear forces, with observed drops (0.5 mm) closely matching theoretical predictions (0.33 mm). This theory provides valuable guidance for future tactile sensor design and advanced robotic touch systems.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.