{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,23]],"date-time":"2026-07-23T12:20:46Z","timestamp":1784809246684,"version":"3.55.0"},"reference-count":48,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2023,11,12]],"date-time":"2023-11-12T00:00:00Z","timestamp":1699747200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52175522"],"award-info":[{"award-number":["52175522"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,1]]},"abstract":"<jats:p>Flexible force sensors have been widely applied in robotics for object exploring, remote controlling, and human\u2013machine interactions. The tri\u2010axis force sensors for accurate measurement of normal and shear forces are generally in urgent demand. Most tri\u2010axis force sensors rely on signal analyzation between multiple elements to achieve force components, which may need numerous leading wires and limit the force angular sensing performance. Herein, a novel flexible centralized force sensor is developed based on a novel tri\u2010axis force refactoring method. Normal force is detected by the central parallel\u2010plates capacitor, and both the angle and amplitude of shear force can be extracted through the resistance changes. The normal force performance is characterized with a sensitivity of 0.057\u2009N<jats:sup>\u22121<\/jats:sup> and a detection range of 0\u201312\u2009N, and the effective detection range of shear force is about 0.5\u20130.67\u2009N. The minimum distinguished shear angle difference is about 7.3\u00b0, which can be further improved by increasing the sensing material's resistivity. Then, robotic grasping tests are performed and show that the sensor can accurately measure the normal and shear forces and applied shear force angle, which indicates its promising applications in potential robotic manipulation and interactions.<\/jats:p>","DOI":"10.1002\/aisy.202300213","type":"journal-article","created":{"date-parts":[[2023,11,12]],"date-time":"2023-11-12T21:40:16Z","timestamp":1699825216000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["A Novel Flexible Centralized Force Sensor Based on Tri\u2010Axis Force Refactoring Method for Arbitrary Force Components Measurement"],"prefix":"10.1002","volume":"6","author":[{"given":"Jie","family":"Jin","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"},{"name":"Donghai Laboratory  Zhoushan 316021 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shihang","family":"Wang","sequence":"additional","affiliation":[{"name":"Zhejiang Key Laboratory of Advanced Manufacturing Technology School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Deqing","family":"Mei","sequence":"additional","affiliation":[{"name":"Zhejiang Key Laboratory of Advanced Manufacturing Technology School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenhao","family":"Mao","sequence":"additional","affiliation":[{"name":"Zhejiang Key Laboratory of Advanced Manufacturing Technology School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5231-6283","authenticated-orcid":false,"given":"Yancheng","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"},{"name":"Donghai Laboratory  Zhoushan 316021 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,11,12]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.3"},{"key":"e_1_2_8_3_1","first-page":"8","volume":"3","author":"Jin J.","year":"2023","journal-title":"Soft Sci."},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201904523"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mser.2017.02.001"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2021.3140049"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504244"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abn0495"},{"key":"e_1_2_8_9_1","unstructured":"K.Zhang M.Sharma M.Veloso O.Kroemer presented atIEEE-RAS 19th Inter. Conf. on Humanoids Toronto Canada October2019."},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1177\/17298806221095974"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202100230"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.2c04043"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1039\/C8TC02946F"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.11.002"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900090"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202003491"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201902133"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsabm.0c01667"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1063\/5.0093261"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2987849"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.3390\/s16050718"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100076"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201305064"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2021.109524"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2015.2418095"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201802989"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2844194"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1039\/C7NR09149D"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ab8748"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146596"},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3014174"},{"key":"e_1_2_8_32_1","doi-asserted-by":"publisher","DOI":"10.1002\/adsr.202300033"},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.9b02030"},{"key":"e_1_2_8_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2021.112857"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200321"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau6914"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202008701"},{"key":"e_1_2_8_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2014.10.002"},{"key":"e_1_2_8_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2023.114368"},{"key":"e_1_2_8_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2929871"},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6528\/aaa051"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1039\/D0MH01359E"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22103850"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10854-018-0111-0"},{"key":"e_1_2_8_45_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ac1bf0"},{"key":"e_1_2_8_46_1","volume-title":"Sensors and Transducers","author":"Sinclar I. R.","year":"2001"},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.352350"},{"key":"e_1_2_8_48_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100118"},{"key":"e_1_2_8_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3024712"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300213","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:12:37Z","timestamp":1759878757000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300213"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11,12]]},"references-count":48,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,1]]}},"alternative-id":["10.1002\/aisy.202300213"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300213","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,11,12]]},"assertion":[{"value":"2023-04-26","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-11-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300213"}}