{"id":"https://openalex.org/W1965851842","doi":"https://doi.org/10.1109/coase.2010.5584505","title":"Shape sensing by vision-based tactile sensor for dexterous handling of robot hands","display_name":"Shape sensing by vision-based tactile sensor for dexterous handling of robot hands","publication_year":2010,"publication_date":"2010-08-01","ids":{"openalex":"https://openalex.org/W1965851842","doi":"https://doi.org/10.1109/coase.2010.5584505","mag":"1965851842"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2010.5584505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2010.5584505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"},"type":"conference-paper","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/A5022845671","display_name":"Yuji Ito","orcid":"https://orcid.org/0000-0003-0460-9588"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Ito","raw_affiliation_strings":["Graduate School of Engineering, University of Nagoya, Nagoya, Japan","Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100696058","display_name":"Youngwoo Kim","orcid":"https://orcid.org/0000-0003-3516-3793"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Youngwoo Kim","raw_affiliation_strings":["EcoTopia Science Institute, University of Nagoya, Nagoya, Japan","EcoTopia Science Institute, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EcoTopia Science Institute, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"EcoTopia Science Institute, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021827371","display_name":"Chikara Nagai","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chikara Nagai","raw_affiliation_strings":["Graduate School of Engineering, University of Nagoya, Nagoya, Japan","Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059011258","display_name":"Goro Obinata","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Goro Obinata","raw_affiliation_strings":["EcoTopia Science Institute, University of Nagoya, Nagoya, Japan","EcoTopia Science Institute, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EcoTopia Science Institute, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"EcoTopia Science Institute, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"574","last_page":"579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.9865999817848206,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6003883481025696},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.576201319694519},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.5681233406066895},{"id":"https://openalex.org/keywords/light-scattering","display_name":"Light scattering","score":0.5441674590110779},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5319452881813049},{"id":"https://openalex.org/keywords/scattering","display_name":"Scattering","score":0.5244079828262329},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5232916474342346},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.502331018447876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4932402968406677},{"id":"https://openalex.org/keywords/light-intensity","display_name":"Light intensity","score":0.4826579689979553},{"id":"https://openalex.org/keywords/diffuse-reflection","display_name":"Diffuse reflection","score":0.4785350263118744},{"id":"https://openalex.org/keywords/intensity","display_name":"Intensity (physics)","score":0.4733027517795563},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4679606854915619},{"id":"https://openalex.org/keywords/luminance","display_name":"Luminance","score":0.4437929689884186},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4434354305267334},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4145377278327942},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3613797426223755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3607408404350281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35932663083076477},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24368271231651306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1841481626033783},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1278662383556366}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6003883481025696},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.576201319694519},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.5681233406066895},{"id":"https://openalex.org/C120456961","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Light scattering","level":3,"score":0.5441674590110779},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5319452881813049},{"id":"https://openalex.org/C191486275","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Scattering","level":2,"score":0.5244079828262329},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5232916474342346},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.502331018447876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4932402968406677},{"id":"https://openalex.org/C3020368824","wikidata":"https://www.wikidata.org/wiki/Q6546192","display_name":"Light intensity","level":2,"score":0.4826579689979553},{"id":"https://openalex.org/C82261727","wikidata":"https://www.wikidata.org/wiki/Q1154504","display_name":"Diffuse reflection","level":2,"score":0.4785350263118744},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.4733027517795563},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4679606854915619},{"id":"https://openalex.org/C73313986","wikidata":"https://www.wikidata.org/wiki/Q355386","display_name":"Luminance","level":2,"score":0.4437929689884186},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4434354305267334},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4145377278327942},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3613797426223755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3607408404350281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35932663083076477},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24368271231651306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1841481626033783},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1278662383556366},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2010.5584505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2010.5584505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1491286533","https://openalex.org/W1978664317","https://openalex.org/W2036159690","https://openalex.org/W2070898295","https://openalex.org/W2116611507","https://openalex.org/W6668100556"],"related_works":["https://openalex.org/W1990245967","https://openalex.org/W2054177013","https://openalex.org/W4383506493","https://openalex.org/W1994772959","https://openalex.org/W2427340667","https://openalex.org/W2136398500","https://openalex.org/W2600517000","https://openalex.org/W4377104339","https://openalex.org/W2324500060","https://openalex.org/W3195885932"],"abstract_inverted_index":{"In":[0,211],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,25],"new":[6],"method":[7,241,251],"to":[8,68,157,184,213],"estimate":[9,69],"the":[10,17,34,40,47,54,64,70,73,76,79,87,96,99,104,107,113,119,122,126,131,136,149,152,154,158,161,164,168,189,193,201,204,208,215,222,228,231,234,239,245],"shape":[11,71,232,249],"and":[12,33,46,60,75,93,138,171,176,192],"irregularity":[13,77],"of":[14,24,39,43,53,57,63,72,78,98,106,112,121,135,143,151,160,167,195,203,207,230,233,238],"objects":[15],"by":[16,95,117,219,226,257],"vision-based":[18],"tactile":[19],"sensor,":[20],"which":[21,37,102],"is":[22,91,115,198,224,242,252],"consist":[23],"CCD":[26],"camera,":[27],"LED":[28,83],"lights,":[29],"transparent":[30],"acrylic":[31],"plate,":[32],"touch":[35,89,108],"pad":[36,90,114,162,209],"consists":[38],"elastic":[41],"membrane":[42,159],"silicon":[44],"rubber":[45],"translucent":[48,88],"red":[49,100],"water":[50],"filling":[51],"inside":[52,105],"membrane.":[55,235],"Intensities":[56],"red,":[58],"green":[59],"blue":[61],"bands":[62],"lights":[65],"are":[66,180,186],"focused":[67],"object":[74,80],"surface.":[81,210],"The":[82,110,141,174,236,248],"light":[84,123,145,197],"traveling":[85,144,196],"in":[86,130,133,188],"scattered":[92],"absorbed":[94],"particles":[97],"pigment":[101,169],"fill":[103],"pad.":[109],"depth":[111,150],"estimated":[116],"using":[118,227],"intensity":[120,142,194],"obtained":[124],"from":[125],"red-green-blue":[127],"(RGB)":[128],"values":[129],"image,":[132],"consideration":[134],"scattering":[137,165,177],"reflection":[139,155,175],"effects.":[140],"decays":[146],"depending":[147],"on":[148],"pad,":[153],"coefficient":[156,166],"surface,":[163],"particle,":[170],"so":[172],"on.":[173],"coefficients":[178],"that":[179],"considered":[181],"very":[182],"hard":[183],"obtain,":[185],"decoupled":[187],"proposed":[190,240],"formulation,":[191],"represented":[199],"with":[200],"function":[202,229],"geometrical":[205],"parameters":[206],"order":[212],"decrease":[214],"approximation":[216],"error":[217],"caused":[218],"unmodeled":[220],"factors,":[221],"compensation":[223],"made":[225],"usefulness":[237],"confirmed":[243],"through":[244],"experimental":[246],"results.":[247],"sensing":[250],"developed":[253],"for":[254],"dexterous":[255],"handling":[256],"robot":[258],"hands.":[259]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}