{"id":"https://openalex.org/W2586782891","doi":"https://doi.org/10.1109/lra.2017.2666420","title":"Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments","display_name":"Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments","publication_year":2017,"publication_date":"2017-02-08","ids":{"openalex":"https://openalex.org/W2586782891","doi":"https://doi.org/10.1109/lra.2017.2666420","mag":"2586782891","pmid":"https://pubmed.ncbi.nlm.nih.gov/29130067"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2666420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2666420","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5025128323","display_name":"Yangming Li","orcid":"https://orcid.org/0000-0002-9794-8054"},"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":"Yangming Li","raw_affiliation_strings":["Yangming Li is with Department of Electrical Engineering, University of Washington, Seattle, WA, USA 98195 ymli81@uw.edu","Department of Electrical Engineering, University of Washington, Seattle, WA, 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yangming Li is with Department of Electrical Engineering, University of Washington, Seattle, WA, USA 98195 ymli81@uw.edu","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, 98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"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"]},{"id":"https://openalex.org/I87213936","display_name":"Drake University","ror":"https://ror.org/001skmk61","country_code":"US","type":"education","lineage":["https://openalex.org/I87213936"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Blake Hannaford is with Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA 98195 blake@uw.edu","Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Blake Hannaford is with Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA 98195 blake@uw.edu","institution_ids":["https://openalex.org/I87213936"]},{"raw_affiliation_string":"Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6752,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.93266474,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":"3","first_page":"1312","last_page":"1319"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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":0.9979000091552734,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9678999781608582,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/ground-penetrating-radar","display_name":"Ground-penetrating radar","score":0.6423770189285278},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6313266754150391},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6035813689231873},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.6012991070747375},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5756327509880066},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5241572856903076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5221567153930664},{"id":"https://openalex.org/keywords/gaussian-filter","display_name":"Gaussian filter","score":0.497814416885376},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49133244156837463},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4592220187187195},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44835880398750305},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.41758689284324646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3647019863128662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3303644359111786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2939494848251343},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10505110025405884},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0920015275478363}],"concepts":[{"id":"https://openalex.org/C71813955","wikidata":"https://www.wikidata.org/wiki/Q503560","display_name":"Ground-penetrating radar","level":3,"score":0.6423770189285278},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6313266754150391},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6035813689231873},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.6012991070747375},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5756327509880066},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5241572856903076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5221567153930664},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.497814416885376},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49133244156837463},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4592220187187195},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44835880398750305},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.41758689284324646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3647019863128662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3303644359111786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2939494848251343},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10505110025405884},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0920015275478363},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2017.2666420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2666420","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmid:29130067","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29130067","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:europepmc.org:4976016","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5679484","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3203803709","display_name":null,"funder_award_id":"1227406","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3781662426","display_name":null,"funder_award_id":"5R21EB016122-02","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W176139043","https://openalex.org/W1483473261","https://openalex.org/W1502922572","https://openalex.org/W1749494163","https://openalex.org/W1994708141","https://openalex.org/W1994997028","https://openalex.org/W2001910813","https://openalex.org/W2005284429","https://openalex.org/W2018705428","https://openalex.org/W2021063890","https://openalex.org/W2040114039","https://openalex.org/W2057244098","https://openalex.org/W2088392499","https://openalex.org/W2105945651","https://openalex.org/W2126814366","https://openalex.org/W2132005662","https://openalex.org/W2133066598","https://openalex.org/W2145359186","https://openalex.org/W2201321853","https://openalex.org/W2346140401","https://openalex.org/W2409079095","https://openalex.org/W2409304865","https://openalex.org/W2409535612","https://openalex.org/W2597886923","https://openalex.org/W2963483883","https://openalex.org/W6648786765","https://openalex.org/W6714537487","https://openalex.org/W6735412712","https://openalex.org/W7000058673"],"related_works":["https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4293503520","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655","https://openalex.org/W4205181450"],"abstract_inverted_index":{"Haptic":[0],"feedback":[1],"is":[2],"a":[3,6,18,104],"critical":[4],"but":[5],"clinically":[7,32],"missing":[8],"component":[9],"in":[10],"robotic":[11,48],"Minimally":[12],"Invasive":[13],"Surgeries.":[14],"This":[15],"paper":[16],"proposes":[17],"Gaussian":[19,53],"Process":[20,54],"Regression(GPR)":[21],"based":[22,100,126],"scheme":[23],"to":[24],"address":[25],"the":[26,41,97,108,118,123,138,141,149],"gripping":[27],"force":[28],"estimation":[29],"problem":[30],"for":[31],"commonly":[33],"used":[34],"elongated":[35],"cable-driven":[36,42],"surgical":[37,47,110],"instruments.":[38],"Based":[39],"on":[40,103,107,128],"mechanism":[43],"property":[44],"studies":[45],"and":[46,59,83,130],"system":[49],"properties,":[50],"four":[51,91,119,139],"different":[52],"Regression":[55],"filters":[56],"were":[57,94],"designed":[58],"analyzed,":[60],"including:":[61],"one":[62,68,74,84],"GPR":[63,69,75,85,143],"filter":[64,70,102],"with":[65,71,80,87,96,145],"2-dimensional":[66,81,146],"inputs,":[67,73,82],"3-dimensional":[72,88],"Unscented":[76],"Kalman":[77],"Filter":[78,144],"(UKF)":[79],"UKF":[86,101],"inputs.":[89],"The":[90,113],"proposed":[92,120],"methods":[93,121],"compared":[95],"dynamic":[98,124],"model":[99,125],"10mm":[105],"gripper":[106],"Raven-II":[109],"robot":[111],"platform.":[112],"experimental":[114],"results":[115],"demonstrated":[116],"that":[117],"outperformed":[122],"method":[127],"precision":[129],"reliability":[131],"without":[132],"parameter":[133],"tuning.":[134],"And":[135],"surprisingly,":[136],"among":[137],"methods,":[140],"simplest":[142],"inputs":[147],"has":[148],"best":[150],"performance.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}