{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T13:18:53Z","timestamp":1780492733482,"version":"3.54.1"},"reference-count":35,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2018,9,18]],"date-time":"2018-09-18T00:00:00Z","timestamp":1537228800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2018,9,18]]},"abstract":"<jats:p>Epidermal sensing has enabled significant advancements towards the measurement and understanding of health. Most of the existing medical instruments require direct expert manipulation of a doctor, measure a single parameter, and\/or have limited sensing coverage. In contrast, this work demonstrates the first epidermal robot with the ability to move over the surface of the skin and capture a large range of body parameters. In particular, we developed SkinBot, a 2x4x2 centimeter-size robot that moves over the skin surface with a two-legged suction-based locomotion. We demonstrate three of the potential medical sensing applications which include the measurement of body biopotentials (e.g., electrodermal activity, electrocardiography) through modified suction cups that serve as electrodes, skin imaging through a skin-facing camera that can capture skin anomalies, and inertial body motions through a 6-axis accelerometer and gyroscope that can capture changes of body posture and subtle cardiorespiratory vibrations.<\/jats:p>","DOI":"10.1145\/3264912","type":"journal-article","created":{"date-parts":[[2018,9,19]],"date-time":"2018-09-19T11:58:41Z","timestamp":1537358321000},"page":"1-22","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":18,"title":["Epidermal Robots"],"prefix":"10.1145","volume":"2","author":[{"given":"Artem","family":"Dementyev","sequence":"first","affiliation":[{"name":"MIT Media Lab, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Javier","family":"Hernandez","sequence":"additional","affiliation":[{"name":"MIT Media Lab, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Inrak","family":"Choi","sequence":"additional","affiliation":[{"name":"Stanford University, Department of Mechanical Engineering, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sean","family":"Follmer","sequence":"additional","affiliation":[{"name":"Stanford University, Department of Mechanical Engineering, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joseph","family":"Paradiso","sequence":"additional","affiliation":[{"name":"MIT Media Lab, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2018,9,18]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2702123.2702200"},{"key":"e_1_2_2_2_1","volume-title":"Mechanical properties and Young's modulus of human skin in vivo. Archives of dermatological research 269, 3","author":"Agache PG","year":"1980","unstructured":"PG Agache , C Monneur , JL Leveque , and J De Rigal . 1980. Mechanical properties and Young's modulus of human skin in vivo. Archives of dermatological research 269, 3 ( 1980 ), 221--232. PG Agache, C Monneur, JL Leveque, and J De Rigal. 1980. Mechanical properties and Young's modulus of human skin in vivo. Archives of dermatological research 269, 3 (1980), 221--232."},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.5772\/7228"},{"key":"e_1_2_2_4_1","volume-title":"Navigating mobile robots: Systems and techniques","author":"Borenstein Johann","unstructured":"Johann Borenstein , HR Everett , and Liqiang Feng . 1996. Navigating mobile robots: Systems and techniques . AK Peters, Ltd. Johann Borenstein, HR Everett, and Liqiang Feng. 1996. Navigating mobile robots: Systems and techniques. AK Peters, Ltd."},{"key":"e_1_2_2_5_1","doi-asserted-by":"crossref","unstructured":"W. Boucsein. 2012. Electrodermal Activity. Springer US. https:\/\/books.google.com\/books?id=6N6rnOEZEEoC  W. Boucsein. 2012. Electrodermal Activity. Springer US. https:\/\/books.google.com\/books?id=6N6rnOEZEEoC","DOI":"10.1007\/978-1-4614-1126-0"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351292"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545596"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984531"},{"key":"e_1_2_2_10_1","doi-asserted-by":"crossref","unstructured":"S Diridollou F Patat F Gens L Vaillant D Black JM Lagarde Y Gall and M Berson. 2000. In vivo model of the mechanical properties of the human skin under suction. Skin Research and technology 6 4 (2000) 214--221.  S Diridollou F Patat F Gens L Vaillant D Black JM Lagarde Y Gall and M Berson. 2000. In vivo model of the mechanical properties of the human skin under suction. Skin Research and technology 6 4 (2000) 214--221.","DOI":"10.1034\/j.1600-0846.2000.006004214.x"},{"key":"e_1_2_2_11_1","volume-title":"2011 19th Mediterranean Conference on. IEEE, 1200--1205","author":"Eich Markus","year":"2011","unstructured":"Markus Eich and Thomas V\u00f6gele . 2011 . Design and control of a lightweight magnetic climbing robot for vessel inspection. In Control 8 Automation (MED) , 2011 19th Mediterranean Conference on. IEEE, 1200--1205 . Markus Eich and Thomas V\u00f6gele. 2011. Design and control of a lightweight magnetic climbing robot for vessel inspection. In Control 8 Automation (MED), 2011 19th Mediterranean Conference on. 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A validation study of the Affectiva Q-Sensor in different social laboratory situations. In 53rd Annual Meeting of the Society for Psychophysiological Research, Florence, Italy."},{"key":"e_1_2_2_18_1","volume-title":"Hu Tao, Ahmad Islam, et al.","author":"Kim Dae-Hyeong","year":"2011","unstructured":"Dae-Hyeong Kim , Nanshu Lu , Rui Ma , Yun-Soung Kim , Rak-Hwan Kim , Shuodao Wang , Jian Wu , Sang Min Won , Hu Tao, Ahmad Islam, et al. 2011 . Epidermal electronics. science 333, 6044 (2011), 838--843. Dae-Hyeong Kim, Nanshu Lu, Rui Ma, Yun-Soung Kim, Rak-Hwan Kim, Shuodao Wang, Jian Wu, Sang Min Won, Hu Tao, Ahmad Islam, et al. 2011. 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Clinical and dermatoscopic diagnosis of malignant melanoma: assessed by expert and non-expert groups. Acta dermato-venereologica 79, 4 (1999)."},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984587"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.3109\/10929080500230197"},{"key":"e_1_2_2_26_1","volume-title":"automated cardiac pulse measurements using video imaging and blind source separation. Optics express 18, 10","author":"Poh Ming-Zher","year":"2010","unstructured":"Ming-Zher Poh , Daniel J McDuff , and Rosalind W Picard . 2010. Non-contact , automated cardiac pulse measurements using video imaging and blind source separation. Optics express 18, 10 ( 2010 ), 10762--10774. Ming-Zher Poh, Daniel J McDuff, and Rosalind W Picard. 2010. Non-contact, automated cardiac pulse measurements using video imaging and blind source separation. 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