{"id":"https://openalex.org/W3177714505","doi":"https://doi.org/10.1109/icps49255.2021.9468151","title":"Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers","display_name":"Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers","publication_year":2021,"publication_date":"2021-05-10","ids":{"openalex":"https://openalex.org/W3177714505","doi":"https://doi.org/10.1109/icps49255.2021.9468151","mag":"3177714505"},"language":"en","primary_location":{"id":"doi:10.1109/icps49255.2021.9468151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/document/9468151","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040064872","display_name":"Pablo Malvido Fresnillo","orcid":"https://orcid.org/0000-0003-4579-1259"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Pablo Malvido Fresnillo","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046118918","display_name":"Saigopal Vasudevan","orcid":"https://orcid.org/0000-0002-4180-7674"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Saigopal Vasudevan","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033999675","display_name":"Wael M. Mohammed","orcid":"https://orcid.org/0000-0002-8364-3348"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Wael M. Mohammed","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052641655","display_name":"Jos\u00e9 L. Mart\u00ednez Lastra","orcid":"https://orcid.org/0000-0001-6227-3408"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jose L. Martinez Lastra","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, FAST-Lab, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071978825","display_name":"Gianluca Laudante","orcid":"https://orcid.org/0000-0003-4009-8287"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Laudante","raw_affiliation_strings":["The University of Campania \u201cLuigi Van-vitelli\u201d, Aversa, CE, Italy","The University of Campania \"Luigi Van-vitelli\", Aversa, CE, Italy"],"affiliations":[{"raw_affiliation_string":"The University of Campania \u201cLuigi Van-vitelli\u201d, Aversa, CE, Italy","institution_ids":["https://openalex.org/I197809005"]},{"raw_affiliation_string":"The University of Campania \"Luigi Van-vitelli\", Aversa, CE, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016424724","display_name":"Salvatore Pirozzi","orcid":"https://orcid.org/0000-0002-1237-0389"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore Pirozzi","raw_affiliation_strings":["The University of Campania \u201cLuigi Van-vitelli\u201d, Aversa, CE, Italy","The University of Campania \"Luigi Van-vitelli\", Aversa, CE, Italy"],"affiliations":[{"raw_affiliation_string":"The University of Campania \u201cLuigi Van-vitelli\u201d, Aversa, CE, Italy","institution_ids":["https://openalex.org/I197809005"]},{"raw_affiliation_string":"The University of Campania \"Luigi Van-vitelli\", Aversa, CE, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052879715","display_name":"Kevin Galassi","orcid":"https://orcid.org/0000-0001-7351-035X"},"institutions":[{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Kevin Galassi","raw_affiliation_strings":["\u201cGuglielmo Marconi\u201d (DEI) of the University, Bologna, Italy","\"Guglielmo Marconi\" (DEI) of the University, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"\u201cGuglielmo Marconi\u201d (DEI) of the University, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]},{"raw_affiliation_string":"\"Guglielmo Marconi\" (DEI) of the University, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Palli","raw_affiliation_strings":["\u201cGuglielmo Marconi\u201d (DEI) of the University, Bologna, Italy","\"Guglielmo Marconi\" (DEI) of the University, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"\u201cGuglielmo Marconi\u201d (DEI) of the University, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]},{"raw_affiliation_string":"\"Guglielmo Marconi\" (DEI) of the University, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5040064872"],"corresponding_institution_ids":["https://openalex.org/I166825849"],"apc_list":null,"apc_paid":null,"fwci":0.1381,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.43340241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"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":0.9994999766349792,"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":0.9994999766349792,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9988999962806702,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9954000115394592,"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/grippers","display_name":"Grippers","score":0.9578527808189392},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7071924209594727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5766560435295105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5688447952270508},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5252411365509033},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.46394726634025574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33276107907295227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2370263636112213},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1918250024318695}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9578527808189392},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7071924209594727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5766560435295105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5688447952270508},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5252411365509033},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.46394726634025574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33276107907295227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2370263636112213},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1918250024318695},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icps49255.2021.9468151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/834239","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/9468151","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:trepo.tuni.fi:10024/220595","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/220595","pdf_url":null,"source":{"id":"https://openalex.org/S7407055260","display_name":"Trepo - Institutional Repository of Tampere University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"}],"best_oa_location":{"id":"pmh:oai:cris.unibo.it:11585/834239","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/9468151","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1511170014","https://openalex.org/W1994880384","https://openalex.org/W2005274391","https://openalex.org/W2067762713","https://openalex.org/W2078072002","https://openalex.org/W2117942114","https://openalex.org/W2808405904","https://openalex.org/W2810883421","https://openalex.org/W2892289384","https://openalex.org/W2896297784","https://openalex.org/W2963953778","https://openalex.org/W2973792521","https://openalex.org/W3002011424","https://openalex.org/W3105350979"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W4386100501","https://openalex.org/W2968390578","https://openalex.org/W1640559846","https://openalex.org/W2962964599"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,8,11],"cyber-physical":[4],"system":[5,118],"composed":[6,81],"by":[7,82,115],"tactile":[9,22],"sensor,":[10],"robotic":[12],"gripper":[13,122],"and":[14,34,43,55,77,93],"suitable":[15],"ROS":[16,37],"software":[17],"nodes":[18,38],"is":[19,70],"proposed.":[20],"The":[21,65],"sensors":[23],"are":[24,102],"shown":[25],"to":[26,105,119],"be":[27],"compatible":[28],"with":[29,72,78],"three":[30],"different":[31,75],"commercial":[32],"grippers,":[33],"the":[35,40,46,53,56,68,89,97,107,111,116,121],"developed":[36],"for":[39],"data":[41],"acquisition":[42],"elaboration":[44],"enable":[45],"implementation":[47],"of":[48,59,67,74,91,109],"complex":[49],"tasks":[50],"such":[51],"as":[52],"grasping":[54,123],"shape":[57,112],"reconstruction":[58,90,113],"deformable":[60],"linear":[61,92],"objects":[62],"like":[63],"cables.":[64],"effectiveness":[66],"systems":[69],"tested":[71],"cable":[73,98],"diameters":[76],"wiring":[79],"harnesses":[80],"several":[83],"cables":[84],"grouped":[85],"together,":[86],"focusing":[87],"on":[88],"quadratic":[94],"curves":[95],"representing":[96],"shape.":[99],"Experimental":[100],"trials":[101],"also":[103],"executed":[104],"show":[106],"possibility":[108],"exploiting":[110],"provided":[114],"proposed":[117],"correct":[120],"pose.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2021-07-19T00:00:00"}