{"id":"https://openalex.org/W2221213990","doi":"https://doi.org/10.1109/humanoids.2015.7363444","title":"Environmental force estimation for a robotic hand: Compliant contact detection","display_name":"Environmental force estimation for a robotic hand: Compliant contact detection","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2221213990","doi":"https://doi.org/10.1109/humanoids.2015.7363444","mag":"2221213990"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10679/2852","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023132247","display_name":"Osman Naf\u0131z Kaya","orcid":"https://orcid.org/0000-0002-7736-2179"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Osman Kaya","raw_affiliation_strings":["Dept. of Computer Science, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001303098","display_name":"Mehmet C. Y\u0131ld\u0131r\u0131m","orcid":"https://orcid.org/0000-0002-2545-1962"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mehmet Can Yildirim","raw_affiliation_strings":["Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023453092","display_name":"Nisan Kuzuluk","orcid":null},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Nisan Kuzuluk","raw_affiliation_strings":["Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014354651","display_name":"Emre \u00c7i\u00e7ek","orcid":"https://orcid.org/0000-0001-6818-3411"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Emre Cicek","raw_affiliation_strings":["Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056142714","display_name":"\u00d6zkan Bebek","orcid":"https://orcid.org/0000-0003-2721-9777"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ozkan Bebek","raw_affiliation_strings":["Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018729334","display_name":"Erhan \u00d6ztop","orcid":"https://orcid.org/0000-0002-3051-6038"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Erhan Oztop","raw_affiliation_strings":["Dept. of Computer Science, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080517829","display_name":"Barkan U\u011furlu","orcid":"https://orcid.org/0000-0002-9124-7441"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Barkan Ugurlu","raw_affiliation_strings":["Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5023132247"],"corresponding_institution_ids":["https://openalex.org/I44925452"],"apc_list":null,"apc_paid":null,"fwci":0.3401,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66429006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"36","issue":null,"first_page":"791","last_page":"796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9972000122070312,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9940999746322632,"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/haptic-technology","display_name":"Haptic technology","score":0.7428345680236816},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6570776104927063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6404788494110107},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6279672384262085},{"id":"https://openalex.org/keywords/stiction","display_name":"Stiction","score":0.566142201423645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568709969520569},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5263249278068542},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5026745796203613},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4571416974067688},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44739168882369995},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44166243076324463},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43765825033187866},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36305588483810425},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32779985666275024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25838136672973633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13998064398765564}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7428345680236816},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6570776104927063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6404788494110107},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6279672384262085},{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.566142201423645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568709969520569},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5263249278068542},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5026745796203613},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4571416974067688},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44739168882369995},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44166243076324463},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43765825033187866},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36305588483810425},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32779985666275024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25838136672973633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13998064398765564},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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":2,"locations":[{"id":"doi:10.1109/humanoids.2015.7363444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/2852","is_oa":true,"landing_page_url":"http://hdl.handle.net/10679/2852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/2852","is_oa":true,"landing_page_url":"http://hdl.handle.net/10679/2852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W153439144","https://openalex.org/W1504074027","https://openalex.org/W1976207411","https://openalex.org/W1977655452","https://openalex.org/W1979117064","https://openalex.org/W1986600860","https://openalex.org/W1990007065","https://openalex.org/W1990273696","https://openalex.org/W1999338537","https://openalex.org/W2000661156","https://openalex.org/W2025943982","https://openalex.org/W2032303412","https://openalex.org/W2047837983","https://openalex.org/W2070787044","https://openalex.org/W2077358809","https://openalex.org/W2102279668","https://openalex.org/W2126701792","https://openalex.org/W2126971410","https://openalex.org/W2128037885","https://openalex.org/W2130726249","https://openalex.org/W2133932631","https://openalex.org/W2137165191","https://openalex.org/W2541714591","https://openalex.org/W4285719527","https://openalex.org/W6648053962"],"related_works":["https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450","https://openalex.org/W3163427917","https://openalex.org/W2040114039","https://openalex.org/W2027665490","https://openalex.org/W2157335472"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14],"model":[4],"based":[5,34,38],"compensation":[6,56],"method":[7,154],"to":[8,39,46,69,146],"enable":[9],"environmental":[10,71,140],"force":[11,21,80,105,141,161],"estimation":[12,81,106,142],"for":[13,41,64,159,170],"robotic":[15],"hand":[16],"with":[17,82,92,111],"no":[18,93],"tactile":[19],"or":[20,167],"sensors.":[22],"To":[23,74,116],"this":[24,136],"end,":[25],"we":[26],"utilize":[27],"multi-joint":[28],"robot":[29,91],"dynamics":[30],"and":[31,50,150],"disturbance":[32,60],"observer":[33,61],"friction":[35],"identification":[36],"methods":[37],"account":[40],"forces":[42],"that":[43,103,139],"arise":[44],"due":[45],"Coriolis,":[47],"gravity,":[48],"stiction":[49],"viscous":[51],"friction.":[52],"With":[53],"the":[54,76,79,104,112,119,122,131,148,157,164,168],"effective":[55],"of":[57,78,99,121,135],"these":[58,100],"forces,":[59],"units,":[62],"implemented":[63,129],"each":[65],"joint,":[66],"allow":[67],"us":[68],"estimate":[70],"interaction":[72],"forces.":[73],"validate":[75],"effectiveness":[77,120],"our":[83,153],"method,":[84,123],"experiments":[85,101],"were":[86],"conducted":[87],"on":[88,130],"an":[89],"anthropomorphic":[90],"haptic":[94],"sensing":[95],"capability.":[96],"The":[97,133],"results":[98],"showed":[102],"was":[107,128,144],"in":[108],"good":[109],"agreement":[110],"actual":[113],"sensor":[114],"measurements.":[115],"further":[117],"elaborate":[118],"compliant":[124],"contact":[125],"detection":[126],"task":[127],"robot.":[132],"result":[134],"experiment":[137],"indicated":[138],"performance":[143],"enough":[145],"facilitate":[147],"task,":[149],"as":[151],"such":[152],"may":[155],"eliminate":[156],"need":[158],"expensive":[160],"sensors":[162],"at":[163],"finger":[165],"tips":[166],"joints":[169],"dexterous":[171],"manipulation.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
