{"id":"https://openalex.org/W4415503061","doi":"https://doi.org/10.1017/s0263574725102737","title":"Real-time mouth posture estimation for meal-assisting robots","display_name":"Real-time mouth posture estimation for meal-assisting robots","publication_year":2025,"publication_date":"2025-10-24","ids":{"openalex":"https://openalex.org/W4415503061","doi":"https://doi.org/10.1017/s0263574725102737"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102737","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102737","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-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/A5001864371","display_name":"Yuhe Fan","orcid":"https://orcid.org/0000-0003-1549-4245"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhe Fan","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":"https://orcid.org/0000-0003-1549-4245","affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013937355","display_name":"Lixun Zhang","orcid":"https://orcid.org/0000-0002-9800-3212"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lixun Zhang","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064839775","display_name":"Canxing Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113011","display_name":"Weifang People's Hospital","ror":"https://ror.org/01xd2tj29","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210113011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Canxing Zheng","raw_affiliation_strings":["Weifang People\u2019s Hospital"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Weifang People\u2019s Hospital","institution_ids":["https://openalex.org/I4210113011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014781631","display_name":"Zhenhan Wang","orcid":"https://orcid.org/0009-0007-8747-2316"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhan Wang","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zekun Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zekun Yang","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Feng Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Xue","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Huaiyu Che","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaiyu Che","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100680478","display_name":"Xingyuan Wang","orcid":"https://orcid.org/0000-0002-9724-0152"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyuan Wang","raw_affiliation_strings":["Harbin Engineering University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013937355"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25670933,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"11","first_page":"4088","last_page":"4115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12222","display_name":"IoT-based Smart Home Systems","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7792999744415283},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.5927000045776367},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4805000126361847},{"id":"https://openalex.org/keywords/moving-least-squares","display_name":"Moving least squares","score":0.47760000824928284},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.47690001130104065},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4724000096321106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4659000039100647},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.45260000228881836},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.4465999901294708}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7792999744415283},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7049999833106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6879000067710876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6258999705314636},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.5927000045776367},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4805000126361847},{"id":"https://openalex.org/C2780580100","wikidata":"https://www.wikidata.org/wiki/Q6927143","display_name":"Moving least squares","level":2,"score":0.47760000824928284},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.47690001130104065},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4724000096321106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.45260000228881836},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.4465999901294708},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4059999883174896},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.39910000562667847},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38420000672340393},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3260999917984009},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2879999876022339},{"id":"https://openalex.org/C166437778","wikidata":"https://www.wikidata.org/wiki/Q50695","display_name":"Quadratic function","level":3,"score":0.28780001401901245},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C21080849","wikidata":"https://www.wikidata.org/wiki/Q13611879","display_name":"Data point","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.2538999915122986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102737","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102737","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1475738481","https://openalex.org/W1974744233","https://openalex.org/W2000018820","https://openalex.org/W2024462240","https://openalex.org/W2043881395","https://openalex.org/W2088028039","https://openalex.org/W2151802865","https://openalex.org/W2281572045","https://openalex.org/W2295870746","https://openalex.org/W2543025677","https://openalex.org/W2588869508","https://openalex.org/W2791777119","https://openalex.org/W2797862627","https://openalex.org/W2804421147","https://openalex.org/W2808189119","https://openalex.org/W2909501706","https://openalex.org/W2922023437","https://openalex.org/W2963166639","https://openalex.org/W2963644257","https://openalex.org/W2964320807","https://openalex.org/W2995392675","https://openalex.org/W3109715615","https://openalex.org/W3119574651","https://openalex.org/W3139270985","https://openalex.org/W3148630054","https://openalex.org/W3155551469","https://openalex.org/W3182220698","https://openalex.org/W3183190751","https://openalex.org/W3183842024","https://openalex.org/W3206970166","https://openalex.org/W3213957086","https://openalex.org/W4206545193","https://openalex.org/W4210637269","https://openalex.org/W4225855981","https://openalex.org/W4226087396","https://openalex.org/W4282946496","https://openalex.org/W4304187386","https://openalex.org/W4308233968","https://openalex.org/W4312942541","https://openalex.org/W4319160348","https://openalex.org/W4367601168","https://openalex.org/W4376851255","https://openalex.org/W4377000487","https://openalex.org/W4378651790","https://openalex.org/W4388460040","https://openalex.org/W4391579722","https://openalex.org/W4396517550","https://openalex.org/W4402439586","https://openalex.org/W4403106307","https://openalex.org/W4403900769","https://openalex.org/W4405005885","https://openalex.org/W4406569112","https://openalex.org/W7081947807"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"In":[1,61],"the":[2,31,64,123,181,201,206,224,236,239,263,290],"fields":[3],"of":[4,35,59,80,118,128,238,257,292],"meal-assisting":[5],"robotics":[6],"and":[7,12,23,40,47,55,77,91,111,152,230,254,270,279,285],"human\u2013robot":[8],"interaction":[9,21],"(HRI),":[10],"real-time":[11,54],"accurate":[13,56,112],"mouth":[14,81,113,129,176,183,211],"pose":[15,50],"estimation":[16,58,79],"is":[17],"critical":[18],"for":[19,53,73,167,180,282],"ensuring":[20],"safety":[22,288],"improving":[24,283],"user":[25],"experience.":[26],"The":[27,85,116,259],"complexity":[28],"arises":[29],"from":[30,95,175],"diverse":[32],"opening":[33,82],"degrees":[34,83],"mouths,":[36],"variations":[37],"in":[38,122,289],"orientation,":[39],"external":[41],"factors":[42],"such":[43],"as":[44,226],"lighting":[45],"conditions":[46],"occlusions,":[48],"which":[49],"significant":[51],"challenges":[52],"posture":[57,78,114],"mouths.":[60,258],"response":[62],"to":[63,108,171,194,200,222,234],"above-mentioned":[65],"issues,":[66],"this":[67,119],"paper":[68],"proposes":[69],"a":[70,96,196,227,276],"novel":[71],"method":[72,87,266],"point":[74,104,172,202],"cloud":[75,105,203],"fitting":[76,168,221],"(FP-MODs).":[84],"proposed":[86,240,264],"leverages":[88],"both":[89],"RGB":[90],"depth":[92],"images":[93],"captured":[94],"single":[97],"viewpoint,":[98],"integrating":[99],"geometric":[100,137,169],"modeling":[101],"with":[102,218],"advanced":[103],"processing":[106],"techniques":[107],"achieve":[109],"robust":[110],"estimation.":[115],"innovation":[117],"work":[120],"lies":[121],"hypothesis":[124],"that":[125,262],"different":[126,252],"states":[127],"openings":[130],"can":[131,274],"be":[132],"effectively":[133],"described":[134],"by":[135,143,149,156],"distinct":[136],"shapes:":[138],"closed":[139,182],"mouths":[140,148,155],"are":[141],"modeled":[142],"spatial":[144,150,157,197,228],"quadratic":[145,198],"surfaces,":[146],"half-open":[147,207],"ellipses,":[151],"fully":[153,209],"open":[154,210],"circles.":[158],"Then,":[159],"based":[160,189],"on":[161,190],"these":[162],"hypotheses,":[163],"we":[164,185,213],"developed":[165],"algorithms":[166],"models":[170],"clouds":[173],"obtained":[174],"regions,":[177],"respectively.":[178,232],"Specifically,":[179],"state,":[184],"employ":[186],"an":[187],"algorithm":[188],"least":[191,219],"squares":[192,220],"optimization":[193],"fit":[195],"surface":[199],"data.":[204],"For":[205],"or":[208],"states,":[212],"combine":[214],"inverse":[215],"projection":[216],"methods":[217],"model":[223],"contour":[225],"ellipse":[229],"circle,":[231],"Finally,":[233],"evaluate":[235],"effectiveness":[237],"FP-MODs":[241,265],"method,":[242],"extensive":[243],"actual":[244],"experiments":[245],"were":[246],"conducted":[247],"under":[248],"varying":[249],"conditions,":[250],"including":[251],"orientations":[253],"various":[255],"types":[256],"results":[260],"demonstrate":[261],"achieves":[267],"high":[268],"accuracy":[269],"robustness.":[271],"This":[272],"study":[273],"provide":[275],"theoretical":[277],"foundation":[278],"technical":[280],"support":[281],"HRI":[284],"food":[286],"delivery":[287],"field":[291],"robotics.":[293]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-24T00:00:00"}
