{"id":"https://openalex.org/W4389665563","doi":"https://doi.org/10.1109/iros55552.2023.10341897","title":"Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models","display_name":"Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665563","doi":"https://doi.org/10.1109/iros55552.2023.10341897"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repo.uni-hannover.de/bitstreams/aaa234ea-9e45-45fc-828f-b64287b5c5b0/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075271698","display_name":"Tim-David Job","orcid":"https://orcid.org/0000-0002-0609-3362"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim-David Job","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044537719","display_name":"Martin Bensch","orcid":"https://orcid.org/0000-0003-2412-9995"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Bensch","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040515531","display_name":"Moritz Schappler","orcid":"https://orcid.org/0000-0001-7952-7363"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Schappler","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":1.3011,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.8074476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"10224","last_page":"10231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9918000102043152,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6935556530952454},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6313900947570801},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.6158051490783691},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6120139360427856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5238218903541565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43407681584358215},{"id":"https://openalex.org/keywords/deflection-angle","display_name":"Deflection angle","score":0.43041035532951355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34907299280166626},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3366934657096863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3301438093185425},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22560235857963562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19356295466423035},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1247759759426117},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08360612392425537}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6935556530952454},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6313900947570801},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6158051490783691},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6120139360427856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5238218903541565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43407681584358215},{"id":"https://openalex.org/C2991746120","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Deflection angle","level":2,"score":0.43041035532951355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34907299280166626},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3366934657096863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3301438093185425},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22560235857963562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19356295466423035},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1247759759426117},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08360612392425537},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repo.uni-hannover.de:123456789/20232","is_oa":true,"landing_page_url":"https://repo.uni-hannover.de/handle/123456789/20232","pdf_url":"https://repo.uni-hannover.de/bitstreams/aaa234ea-9e45-45fc-828f-b64287b5c5b0/download","source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"doc-type:BookPart"}],"best_oa_location":{"id":"pmh:oai:repo.uni-hannover.de:123456789/20232","is_oa":true,"landing_page_url":"https://repo.uni-hannover.de/handle/123456789/20232","pdf_url":"https://repo.uni-hannover.de/bitstreams/aaa234ea-9e45-45fc-828f-b64287b5c5b0/download","source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"doc-type:BookPart"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321469","display_name":"Bundesministerium f\u00fcr Wirtschaft und Technologie","ror":"https://ror.org/02vgg2808"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389665563.pdf","grobid_xml":"https://content.openalex.org/works/W4389665563.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969140852","https://openalex.org/W2020409524","https://openalex.org/W2057785338","https://openalex.org/W2081092346","https://openalex.org/W2101797976","https://openalex.org/W2122748217","https://openalex.org/W2142828858","https://openalex.org/W2184993170","https://openalex.org/W2563940612","https://openalex.org/W2736449616","https://openalex.org/W2762248135","https://openalex.org/W2895232491","https://openalex.org/W2966892768","https://openalex.org/W3005207906","https://openalex.org/W3008974801","https://openalex.org/W3042873437","https://openalex.org/W3080406417","https://openalex.org/W3118198822","https://openalex.org/W3129630945","https://openalex.org/W4285792016","https://openalex.org/W4312188157","https://openalex.org/W4312655650","https://openalex.org/W4383066472"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W136674370","https://openalex.org/W4246278799","https://openalex.org/W2105527480","https://openalex.org/W2052387497","https://openalex.org/W2050203848","https://openalex.org/W2050191802"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,70,84],"new":[4,85],"approach":[5],"to":[6,59,63,106],"determine":[7],"single":[8,100],"and":[9,30,80],"multiple":[10],"simultaneous":[11],"contact":[12],"forces":[13],"on":[14,25,83],"tendon-driven":[16],"continuum":[17],"robot":[18,86],"(CR).":[19],"The":[20,51,73,94],"estimation":[21,98],"is":[22,49,57,67,75],"based":[23],"solely":[24],"the":[26,45,64,97,113,124,128],"proprioceptive":[27],"tendon":[28],"force":[29],"length":[31],"sensors":[32],"that":[33],"are":[34],"already":[35],"present.":[36],"Unlike":[37],"for":[38,88],"rigid-body":[39],"robots,":[40],"only":[41,119],"indirect":[42],"measurements":[43],"of":[44,91,99,112,127],"external":[46],"forces'":[47],"deflection":[48],"available.":[50],"required":[52],"full":[53],"kinetostatic":[54],"model,":[55],"which":[56],"prone":[58],"local":[60],"minima":[61],"due":[62],"unknown":[65],"contacts,":[66],"solved":[68],"with":[69,102],"particle":[71],"filter.":[72],"method":[74],"validated":[76],"by":[77],"simulative":[78],"studies":[79],"experimental":[81],"investigations":[82],"setup":[87],"visual":[89],"inspection":[90],"aircraft":[92],"engines.":[93],"algorithm":[95],"allows":[96],"contacts":[101,117],"an":[103],"error":[104],"up":[105],"4.43":[107],"mm":[108],"or":[109],"2.9":[110],"%":[111],"robot's":[114],"length.":[115],"Multiple":[116],"can":[118],"be":[120],"correctly":[121],"determined":[122],"at":[123],"two":[125],"distal":[126],"three":[129],"segments.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-09T07:27:16.801131","created_date":"2025-10-10T00:00:00"}
