{"id":"https://openalex.org/W4413926172","doi":"https://doi.org/10.1109/icra55743.2025.11128142","title":"A Neural Network-Based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm","display_name":"A Neural Network-Based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926172","doi":"https://doi.org/10.1109/icra55743.2025.11128142"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-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/A5086201027","display_name":"Tixian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tixian Wang","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062498598","display_name":"Heng-Sheng Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heng-Sheng Chang","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100454633","display_name":"Seung Hyun Kim","orcid":"https://orcid.org/0000-0003-1052-8944"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seung Hyun Kim","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiamiao Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiamiao Guo","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114400247","display_name":"Ugur Akcal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ugur Akcal","raw_affiliation_strings":["Coordinated Science Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039547659","display_name":"Benjamin Walt","orcid":"https://orcid.org/0000-0001-5427-3686"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin Walt","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114400248","display_name":"Darren Biskup","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Darren Biskup","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004190839","display_name":"Udit Halder","orcid":"https://orcid.org/0000-0002-7881-2936"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]},{"id":"https://openalex.org/I75821886","display_name":"University of South Florida St. Petersburg","ror":"https://ror.org/016gp6x28","country_code":"US","type":"education","lineage":["https://openalex.org/I75821886"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Udit Halder","raw_affiliation_strings":["University of South Florida,Mechanical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of South Florida,Mechanical Engineering","institution_ids":["https://openalex.org/I2613432","https://openalex.org/I75821886"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050432620","display_name":"Girish Krishnan","orcid":"https://orcid.org/0000-0002-1005-2862"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Girish Krishnan","raw_affiliation_strings":["Industrial and Enterprise Systems Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Enterprise Systems Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Coordinated Science Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106466015","display_name":"Mattia Gazzola","orcid":"https://orcid.org/0000-0003-2129-379X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mattia Gazzola","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081314418","display_name":"Prashant G. Mehta","orcid":"https://orcid.org/0000-0003-1265-7942"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Prashant G. Mehta","raw_affiliation_strings":["Mechanical Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18512444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14510","display_name":"Medical Imaging and Analysis","score":0.9812999963760376,"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"}},"topics":[{"id":"https://openalex.org/T14510","display_name":"Medical Imaging and Analysis","score":0.9812999963760376,"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/computer-science","display_name":"Computer science","score":0.6284499168395996},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5486626029014587},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5154543519020081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5034763216972351}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6284499168395996},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5486626029014587},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5154543519020081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5034763216972351}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1843429793","display_name":"Methods for Analysis of Nonlinear Filter with Applications to Reinforcement Learning","funder_award_id":"2336137","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5445128664","display_name":null,"funder_award_id":"FA9550-23-1-0060","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1982983039","https://openalex.org/W1991604955","https://openalex.org/W2006104867","https://openalex.org/W2010717132","https://openalex.org/W2027454283","https://openalex.org/W2115930333","https://openalex.org/W2128728535","https://openalex.org/W2129171663","https://openalex.org/W2138072388","https://openalex.org/W2165744315","https://openalex.org/W2177478906","https://openalex.org/W2295380675","https://openalex.org/W2603097910","https://openalex.org/W2610150749","https://openalex.org/W2724857106","https://openalex.org/W2774805401","https://openalex.org/W2793703784","https://openalex.org/W2807959585","https://openalex.org/W2870735678","https://openalex.org/W2921717300","https://openalex.org/W2922061202","https://openalex.org/W2949924544","https://openalex.org/W2976719022","https://openalex.org/W3000160985","https://openalex.org/W3008109267","https://openalex.org/W3035037989","https://openalex.org/W3036122876","https://openalex.org/W3071704888","https://openalex.org/W3082530702","https://openalex.org/W3118613712","https://openalex.org/W3128400048","https://openalex.org/W3129185850","https://openalex.org/W3134077214","https://openalex.org/W3138075616","https://openalex.org/W3155716052","https://openalex.org/W3200272469","https://openalex.org/W3204152898","https://openalex.org/W3205356661","https://openalex.org/W3205907272","https://openalex.org/W4200428696","https://openalex.org/W4226393888","https://openalex.org/W4280571816","https://openalex.org/W4282978150","https://openalex.org/W4292993127","https://openalex.org/W4315471902","https://openalex.org/W4318778510","https://openalex.org/W4381849422","https://openalex.org/W4391051979","https://openalex.org/W4392232173","https://openalex.org/W4396875104","https://openalex.org/W4398188166","https://openalex.org/W4398249993","https://openalex.org/W4400228854","https://openalex.org/W4400309234","https://openalex.org/W4401709649"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"A":[0],"neural":[1,41],"network-based":[2],"framework":[3,129],"is":[4,59,70,78,115,130],"developed":[5],"and":[6,48,96,140],"experimentally":[7],"demonstrated":[8],"for":[9,72,92],"the":[10,14,26,35,38,56,64,82,88,93],"problem":[11,69,91,105],"of":[12,16,25,32,37,55,99,121],"estimating":[13],"shape":[15],"a":[17,29,52,135,141],"soft":[18,74,145],"continuum":[19],"arm":[20,139],"(SCA)":[21],"from":[22],"noisy":[23],"measurements":[24,47],"pose":[27],"at":[28],"finite":[30],"number":[31],"locations":[33],"along":[34],"length":[36],"arm.":[39],"The":[40,109,128],"network":[42],"takes":[43],"as":[44,50],"input":[45],"these":[46],"produces":[49],"output":[51],"finitedimensional":[53],"approximation":[54],"strain,":[57],"which":[58],"further":[60],"used":[61],"to":[62,81,87,103,117],"reconstruct":[63],"infinite-dimensional":[65],"smooth":[66,112],"posture.":[67],"This":[68],"important":[71],"various":[73],"robotic":[75],"applications.":[76],"It":[77],"challenging":[79],"due":[80],"flexible":[83],"aspects":[84],"that":[85],"lead":[86],"infinitedimensional":[89],"reconstruction":[90,113],"continuous":[94],"posture":[95],"strains.":[97],"Because":[98],"this,":[100],"past":[101],"solutions":[102],"this":[104],"are":[106],"computationally":[107],"intensive.":[108],"proposed":[110],"fast":[111],"method":[114],"shown":[116],"be":[118],"five":[119],"orders":[120],"magnitude":[122],"faster":[123],"while":[124],"having":[125],"comparable":[126],"accuracy.":[127],"evaluated":[131],"on":[132],"two":[133],"testbeds:":[134],"simulated":[136],"octopus":[137],"muscular":[138],"physical":[142],"BR2":[143],"pneumatic":[144],"manipulator.":[146]},"counts_by_year":[],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}