{"id":"https://openalex.org/W4405785572","doi":"https://doi.org/10.1109/iros58592.2024.10802687","title":"Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation","display_name":"Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785572","doi":"https://doi.org/10.1109/iros58592.2024.10802687"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802687","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5096774250","display_name":"Neel Jawale","orcid":"https://orcid.org/0009-0008-6265-0806"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neel Jawale","raw_affiliation_strings":["University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107674834","display_name":"Navneet Kaur","orcid":"https://orcid.org/0009-0005-6713-7890"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Navneet Kaur","raw_affiliation_strings":["University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Amy Santoso","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amy Santoso","raw_affiliation_strings":["University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049874239","display_name":"Xiaohai Hu","orcid":"https://orcid.org/0009-0007-6099-7286"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaohai Hu","raw_affiliation_strings":["University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001037360","display_name":"Xu Chen","orcid":"https://orcid.org/0000-0002-4604-5744"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xu Chen","raw_affiliation_strings":["University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,MACS Lab,Department of Mechanical Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13569","last_page":"13576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9872000217437744,"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":0.9872000217437744,"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":0.9728999733924866,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9714999794960022,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7330399751663208},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7019936442375183},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.598239541053772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5596374273300171},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47966909408569336},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4503633975982666},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.42720115184783936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4176673889160156},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4149942398071289},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41325050592422485},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22909078001976013},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21333956718444824},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.21017172932624817},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12319019436836243},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10702380537986755},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.06076940894126892}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7330399751663208},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7019936442375183},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.598239541053772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5596374273300171},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47966909408569336},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4503633975982666},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.42720115184783936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4176673889160156},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4149942398071289},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41325050592422485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22909078001976013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21333956718444824},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.21017172932624817},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12319019436836243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10702380537986755},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.06076940894126892},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802687","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":30,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1678356000","https://openalex.org/W2035784614","https://openalex.org/W2060515929","https://openalex.org/W2064675550","https://openalex.org/W2117366362","https://openalex.org/W2159458859","https://openalex.org/W2344872270","https://openalex.org/W2743209907","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2782833696","https://openalex.org/W2837391606","https://openalex.org/W2892010946","https://openalex.org/W2963379061","https://openalex.org/W2963915174","https://openalex.org/W2968095426","https://openalex.org/W3005933886","https://openalex.org/W3011137165","https://openalex.org/W3036931227","https://openalex.org/W3102486441","https://openalex.org/W3131287486","https://openalex.org/W4313897763","https://openalex.org/W4322627950","https://openalex.org/W4327606277","https://openalex.org/W4389665367","https://openalex.org/W4400762160","https://openalex.org/W6756908582","https://openalex.org/W6843107530","https://openalex.org/W6850075422"],"related_works":["https://openalex.org/W1578656222","https://openalex.org/W1979945082","https://openalex.org/W2906198815","https://openalex.org/W2614950215","https://openalex.org/W2677968565","https://openalex.org/W4287255890","https://openalex.org/W2998163826","https://openalex.org/W4296901090","https://openalex.org/W3163518500","https://openalex.org/W1895481218"],"abstract_inverted_index":{"Safely":[0],"handling":[1],"objects":[2],"and":[3,36,75,104,155,158,175],"avoiding":[4],"slippage":[5,21],"are":[6,177],"fundamental":[7],"challenges":[8],"in":[9,135],"robotic":[10],"manipulation,":[11],"yet":[12],"traditional":[13],"techniques":[14],"often":[15],"oversimplify":[16],"the":[17,58,76,79,84,88,91,105,124,133,143,153,160,165],"issue":[18],"by":[19,57],"treating":[20],"as":[22,152],"a":[23,29,42,111,136],"binary":[24],"occurrence.":[25],"Our":[26,94],"research":[27],"presents":[28],"framework":[30],"that":[31],"both":[32,132],"identifies":[33],"slip":[34,73,95,106,147,161],"incidents":[35],"measures":[37],"their":[38],"severity.":[39],"We":[40],"introduce":[41],"set":[43],"of":[44,52,87,102,116,127,146],"features":[45],"based":[46],"on":[47,72],"detailed":[48],"vector":[49],"field":[50],"analysis":[51],"tactile":[53,137],"deformation":[54],"data":[55],"captured":[56],"GelSight":[59],"Mini":[60],"sensor.":[61],"Two":[62],"distinct":[63],"machine":[64],"learning":[65],"models":[66,134],"use":[67],"these":[68],"features:":[69],"one":[70],"focuses":[71],"detection,":[74,148],"other":[77],"evaluates":[78],"slip\u2019s":[80],"severity,":[81],"which":[82],"is":[83],"slipping":[85],"velocity":[86],"object":[89],"against":[90],"sensor":[92],"surface.":[93],"detection":[96],"model":[97,109,157],"achieves":[98],"an":[99],"average":[100],"accuracy":[101,145],"92%,":[103],"severity":[107,162],"estimation":[108,163],"exhibits":[110],"mean":[112],"absolute":[113],"error":[114],"(MAE)":[115],"0.6":[117],"cm/s":[118],"for":[119],"unseen":[120],"objects.":[121],"To":[122],"demonstrate":[123],"synergistic":[125],"approach":[126],"this":[128],"framework,":[129],"we":[130,149],"employ":[131],"feedback-guided":[138],"vertical":[139],"sliding":[140],"task.":[141],"Leveraging":[142],"high":[144],"utilize":[150],"it":[151],"foundational":[154],"corrective":[156],"integrate":[159],"into":[164],"feedback":[166],"control":[167],"loop":[168],"to":[169],"address":[170],"slips":[171],"without":[172],"overcompensating.":[173],"Videos":[174],"demonstrations":[176],"available":[178],"at:":[179],"https://sites.google.com/uw.edu/lsds":[180]},"counts_by_year":[{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2024-12-26T00:00:00"}