{"id":"https://openalex.org/W3004255398","doi":"https://doi.org/10.1109/iros40897.2019.8968052","title":"Deep Learning of Proprioceptive Models for Robotic Force Estimation","display_name":"Deep Learning of Proprioceptive Models for Robotic Force Estimation","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004255398","doi":"https://doi.org/10.1109/iros40897.2019.8968052","mag":"3004255398"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5089638276","display_name":"Erik Berger","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I4210110242","display_name":"Digital Science (United States)","ror":"https://ror.org/020h4b682","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110242","https://openalex.org/I4210112888","https://openalex.org/I4210118830"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Erik Berger","raw_affiliation_strings":["Digital Enterprise &#x0026; Digital Services, Siemens AG, Sch&#x00FC;tzenstr. 4-10,Leipzig,Germany,04103","Digital Enterprise & Digital Services, Siemens AG, Sch\u00fctzenstr. 4-10, Leipzig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Enterprise &#x0026; Digital Services, Siemens AG, Sch&#x00FC;tzenstr. 4-10,Leipzig,Germany,04103","institution_ids":["https://openalex.org/I4210110242"]},{"raw_affiliation_string":"Digital Enterprise & Digital Services, Siemens AG, Sch\u00fctzenstr. 4-10, Leipzig, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069656421","display_name":"Daniel Eger Passos","orcid":null},"institutions":[{"id":"https://openalex.org/I61893789","display_name":"TU Bergakademie Freiberg","ror":"https://ror.org/031vc2293","country_code":"DE","type":"education","lineage":["https://openalex.org/I61893789"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Eger Passos","raw_affiliation_strings":["Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","institution_ids":["https://openalex.org/I61893789"]},{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany","institution_ids":["https://openalex.org/I61893789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031655934","display_name":"Steve Grehl","orcid":null},"institutions":[{"id":"https://openalex.org/I61893789","display_name":"TU Bergakademie Freiberg","ror":"https://ror.org/031vc2293","country_code":"DE","type":"education","lineage":["https://openalex.org/I61893789"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steve Grehl","raw_affiliation_strings":["Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","institution_ids":["https://openalex.org/I61893789"]},{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany","institution_ids":["https://openalex.org/I61893789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024068845","display_name":"Heni Ben Amor","orcid":"https://orcid.org/0000-0002-9896-8217"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heni Ben Amor","raw_affiliation_strings":["Arizona State University, 699 S Mill Ave,School of Computing, Informatics and, Decision Systems Engineering,Tempe,AZ,USA,85281","School of Computing, Informatics and, Decision Systems Engineering, Arizona State University, 699 S Mill Ave, Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, 699 S Mill Ave,School of Computing, Informatics and, Decision Systems Engineering,Tempe,AZ,USA,85281","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Computing, Informatics and, Decision Systems Engineering, Arizona State University, 699 S Mill Ave, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103960410","display_name":"Bernhard Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I61893789","display_name":"TU Bergakademie Freiberg","ror":"https://ror.org/031vc2293","country_code":"DE","type":"education","lineage":["https://openalex.org/I61893789"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernhard Jung","raw_affiliation_strings":["Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2,Freiberg,Germany,09599","institution_ids":["https://openalex.org/I61893789"]},{"raw_affiliation_string":"Institute of Computer Science, Technical University Bergakademie Freiberg, Bernhard-von-Cotta-Str. 2, Freiberg, Germany","institution_ids":["https://openalex.org/I61893789"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8775,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71609091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4258","last_page":"4264"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9927999973297119,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.7437049746513367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7102159261703491},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.603300929069519},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5909996032714844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5904531478881836},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5803432464599609},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.534206748008728},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4818595349788666},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4118935763835907},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4030587375164032},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21694180369377136}],"concepts":[{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.7437049746513367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7102159261703491},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.603300929069519},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5909996032714844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5904531478881836},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5803432464599609},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.534206748008728},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4818595349788666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4118935763835907},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4030587375164032},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21694180369377136},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1500504256","https://openalex.org/W1663973292","https://openalex.org/W2009086942","https://openalex.org/W2053983794","https://openalex.org/W2064675550","https://openalex.org/W2561970753","https://openalex.org/W2762248135","https://openalex.org/W2909451774","https://openalex.org/W2972654324","https://openalex.org/W6768167072"],"related_works":["https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2053711990","https://openalex.org/W2006407928","https://openalex.org/W2298182222","https://openalex.org/W2792430535","https://openalex.org/W1566120828","https://openalex.org/W1593152772","https://openalex.org/W2736566061"],"abstract_inverted_index":{"Many":[0],"robotic":[1,39],"tasks":[2],"require":[3],"fast":[4,134],"and":[5,33,135],"accurate":[6,136],"force":[7,137],"sensing":[8],"capabilities":[9],"to":[10,36,115],"ensure":[11],"adaptive":[12],"behavior":[13,91,108],"execution.":[14,82],"While":[15],"dedicated":[16,144],"force-torque":[17],"(FT)":[18],"sensors":[19,60,86],"are":[20,92],"a":[21,44,54,66,143],"common":[22,58],"option,":[23],"such":[24],"devices":[25],"induce":[26],"extra":[27],"costs,":[28],"need":[29],"additional":[30],"power":[31],"supply,":[32],"add":[34],"weight":[35],"otherwise":[37],"light-weight":[38],"systems.":[40],"This":[41],"paper":[42],"presents":[43],"machine":[45],"learning":[46,105],"approach":[47],"for":[48,88,119,133],"estimating":[49],"external":[50,122],"forces":[51],"acting":[52],"on":[53,57],"robot":[55,129],"based":[56],"internal":[59],"only.":[61],"In":[62],"the":[63,76,84,89,98,110,127,131],"training":[64],"phase,":[65],"behavior-specific":[67],"proprioceptive":[68,78,85,99,111],"model":[69,100,112],"is":[70,101,113,148],"learned":[71,102],"as":[72],"compact":[73],"representation":[74],"of":[75,121],"expected":[77],"feedback":[79],"during":[80],"task":[81],"First,":[83],"relevant":[87],"given":[90],"identified":[93],"using":[94,103],"information-theoretic":[95],"measures.":[96],"Then,":[97],"deep":[104],"techniques.":[106],"During":[107],"execution,":[109],"applied":[114],"actual":[116],"sensor":[117,147],"readings":[118],"estimation":[120,138],"forces.":[123],"Experiments":[124],"performed":[125],"with":[126],"UR5":[128],"demonstrate":[130],"ability":[132],"even":[139],"in":[140],"situations":[141],"where":[142],"commercial":[145],"FT":[146],"not":[149],"applicable.":[150]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
