{"id":"https://openalex.org/W3011904522","doi":"https://doi.org/10.1109/humanoids43949.2019.9035051","title":"Employing IMU and ArUco Marker Based Tracking to Decode the Contact Forces Exerted by Adaptive Hands","display_name":"Employing IMU and ArUco Marker Based Tracking to Decode the Contact Forces Exerted by Adaptive Hands","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3011904522","doi":"https://doi.org/10.1109/humanoids43949.2019.9035051","mag":"3011904522"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","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":null,"display_name":"Nathan Elangovan","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Nathan Elangovan","raw_affiliation_strings":["Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064359157","display_name":"Anany Dwivedi","orcid":"https://orcid.org/0000-0003-3262-6676"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Anany Dwivedi","raw_affiliation_strings":["Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086530904","display_name":"Lucas Gerez","orcid":"https://orcid.org/0000-0002-2997-4672"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Lucas Gerez","raw_affiliation_strings":["Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102194740","display_name":"Che-Ming Chang","orcid":"https://orcid.org/0009-0006-9192-0217"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Che-Ming Chang","raw_affiliation_strings":["Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":3.5098,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.94414974,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"525","last_page":"530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9995999932289124,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/underactuation","display_name":"Underactuation","score":0.7128869295120239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6387994289398193},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5765878558158875},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5581659078598022},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.5518697500228882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.549849271774292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5200378894805908},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42320823669433594},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4148631989955902},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37594762444496155},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.09412035346031189}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7128869295120239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6387994289398193},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5765878558158875},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5581659078598022},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.5518697500228882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.549849271774292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5200378894805908},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42320823669433594},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4148631989955902},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37594762444496155},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.09412035346031189},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1881109849","https://openalex.org/W1888892744","https://openalex.org/W1930624869","https://openalex.org/W1971241999","https://openalex.org/W1978646801","https://openalex.org/W1992544936","https://openalex.org/W1994349244","https://openalex.org/W2031835394","https://openalex.org/W2034912460","https://openalex.org/W2048058874","https://openalex.org/W2066878366","https://openalex.org/W2072724669","https://openalex.org/W2082301355","https://openalex.org/W2098335677","https://openalex.org/W2117197536","https://openalex.org/W2129908076","https://openalex.org/W2156909104","https://openalex.org/W2218684819","https://openalex.org/W2345411954","https://openalex.org/W2589847876","https://openalex.org/W2771465938","https://openalex.org/W2772523001","https://openalex.org/W2773698651","https://openalex.org/W2807254784","https://openalex.org/W2911964244","https://openalex.org/W2999904973","https://openalex.org/W4210660029","https://openalex.org/W6642865303","https://openalex.org/W6679345201"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W587013945","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W2745063183","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W2142042635","https://openalex.org/W1988127757"],"abstract_inverted_index":{"Adaptive,":[0],"underactuated,":[1],"and":[2,56,59,62,82,98,162,172],"compliant":[3],"robot":[4,228],"hands":[5,35,70,92,123,142],"offer":[6],"a":[7,108,218],"promising":[8],"alternative":[9],"to":[10,38,41,107,134,176,232],"the":[11,21,76,88,102,112,117,122,136,155,169,185,188,196,201,211,227,233],"fully-actuated,":[12],"rigid":[13],"robotic":[14],"devices":[15],"that":[16,26,114,165],"are":[17,157,166,174],"typically":[18],"considered":[19],"for":[20,75,217],"execution":[22,77],"of":[23,33,64,78,91,104,111,121,154,187,204,210,221,226],"complex":[24],"tasks":[25],"require":[27],"significant":[28,47],"dexterity.":[29],"The":[30,151,208],"increasing":[31],"popularity":[32],"adaptive":[34,69,141,170,206],"is":[36,214],"due":[37],"their":[39,54,60,147],"ability":[40],"extract":[42],"stable":[43],"grasps":[44],"even":[45],"under":[46],"object":[48],"pose":[49],"or":[50],"other":[51],"environmental":[52],"uncertainties,":[53],"lightweight":[55],"affordable":[57],"designs":[58],"intuitiveness":[61],"easiness":[63],"operation.":[65],"Regarding":[66],"possible":[67],"applications,":[68],"have":[71],"been":[72],"successfully":[73],"used":[74,175],"both":[79],"robust":[80],"grasping":[81],"dexterous,":[83],"in-hand":[84],"manipulation":[85],"tasks.":[86],"However,":[87],"particular":[89],"class":[90],"also":[93],"suffers":[94],"from":[95],"certain":[96],"shortcomings":[97],"drawbacks.":[99],"For":[100],"example,":[101],"use":[103],"underactuation":[105],"leads":[106],"post-contact":[109],"reconfiguration":[110,149,202],"fingers":[113,156,171],"may":[115],"affect":[116],"force":[118,235],"exertion":[119],"capabilities":[120],"during":[124,200],"pinch":[125,144],"grasping.":[126],"In":[127],"this":[128],"paper,":[129],"we":[130,183],"focus":[131],"on":[132,168],"methods":[133],"predict":[135],"contact":[137,198],"forces":[138,199],"exerted":[139,197],"by":[140],"in":[143,194],"grasps,":[145],"using":[146,159],"postcontact":[148],"profile.":[150],"bending":[152],"profiles":[153],"recorded":[158],"ArUco":[160],"trackers":[161],"IMU":[163],"sensors":[164],"embedded":[167],"which":[173],"train":[177],"appropriate":[178],"regression":[179],"models.":[180],"More":[181],"precisely,":[182],"examine":[184],"efficiency":[186],"machine":[189],"learning":[190],"technique":[191],"(Random":[192],"Forests)":[193],"predicting":[195],"phase":[203],"an":[205],"finger.":[207],"accuracy":[209],"proposed":[212],"method":[213],"experimentally":[215],"validated":[216],"wide":[219],"range":[220],"conditions,":[222],"involving":[223],"different":[224],"prepositionings":[225],"finger":[229],"with":[230],"respect":[231],"employed":[234],"sensor.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}