{"id":"https://openalex.org/W2930142071","doi":"https://doi.org/10.1109/lra.2019.2906548","title":"Model-Free Soft-Structure Reconstruction for Proprioception Using Tactile Arrays","display_name":"Model-Free Soft-Structure Reconstruction for Proprioception Using Tactile Arrays","publication_year":2019,"publication_date":"2019-03-27","ids":{"openalex":"https://openalex.org/W2930142071","doi":"https://doi.org/10.1109/lra.2019.2906548","mag":"2930142071"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2906548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2906548","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/295778","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090728849","display_name":"Luca Scimeca","orcid":"https://orcid.org/0000-0002-2821-0072"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":true,"raw_author_name":"Luca Scimeca","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090728849"],"corresponding_institution_ids":["https://openalex.org/I4210096386"],"apc_list":null,"apc_paid":null,"fwci":2.8897,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.90793021,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"2479","last_page":"2484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9983000159263611,"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":0.9976000189781189,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.728144645690918},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7187480926513672},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6614269018173218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5996623039245605},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5622307062149048},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4596118628978729},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.43661877512931824},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42613500356674194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3359471559524536},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18085241317749023}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.728144645690918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7187480926513672},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6614269018173218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5996623039245605},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5622307062149048},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4596118628978729},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.43661877512931824},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42613500356674194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3359471559524536},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18085241317749023},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/lra.2019.2906548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2906548","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":"pmh:oai:generic.eprints.org:1075444","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1075444/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:infoscience.epfl.ch:295778","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/295778","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"","raw_type":"research article"},{"id":"pmh:oai:iris.unige.it:11567/1102832","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1102832","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:a2b6543e-e587-4d9b-bfef-d57e874b8cd7","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:a2b6543e-e587-4d9b-bfef-d57e874b8cd7","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/290927","is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/290927","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"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":"Article"},{"id":"doi:10.17863/cam.38106","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.38106","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:295778","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/295778","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"","raw_type":"research article"},"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G24559435","display_name":null,"funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G586385744","display_name":"Morphological computation of perception and action","funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6210605162","display_name":null,"funder_award_id":"EP/T00519X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7598418738","display_name":null,"funder_award_id":"EP/N029003/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320310271","display_name":"Agriculture and Horticulture Development Board","ror":"https://ror.org/010gf7388"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1533861849","https://openalex.org/W1613131328","https://openalex.org/W1826399803","https://openalex.org/W1976329025","https://openalex.org/W1976740140","https://openalex.org/W1985952684","https://openalex.org/W1990355221","https://openalex.org/W2007964199","https://openalex.org/W2021928942","https://openalex.org/W2027192530","https://openalex.org/W2079574144","https://openalex.org/W2091556617","https://openalex.org/W2112013455","https://openalex.org/W2133835651","https://openalex.org/W2154598371","https://openalex.org/W2163848080","https://openalex.org/W2163907797","https://openalex.org/W2171130677","https://openalex.org/W2205969003","https://openalex.org/W2241606133","https://openalex.org/W2491918380","https://openalex.org/W2544641369","https://openalex.org/W2556078315","https://openalex.org/W2585344004","https://openalex.org/W2858249618","https://openalex.org/W2894015261","https://openalex.org/W6631943919","https://openalex.org/W6684034355"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2033256001","https://openalex.org/W3153919089","https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4322731033","https://openalex.org/W4211124276","https://openalex.org/W4283740974","https://openalex.org/W4312269480","https://openalex.org/W4385482464"],"abstract_inverted_index":{"Continuum":[0],"body":[1,138,144],"structures":[2],"provide":[3],"unique":[4],"opportunities":[5],"for":[6,50],"soft":[7,143],"robotics,":[8],"with":[9,95,147],"the":[10,24,68,71,75,79,102,137,142,157,163,166,175,178,183,189,193,196],"infinite":[11,25],"degrees":[12,26],"of":[13,27,29,58,78,87,132,151,165,172,177,192,198],"freedom":[14,28],"enabling":[15],"unconstrained":[16],"and":[17,21,36,74,140],"highly":[18],"adaptive":[19],"exploration":[20,171],"manipulation.":[22],"However,":[23],"continuum":[30,53,80],"bodies":[31],"makes":[32],"sensing":[33,200],"(both":[34],"intrinsically":[35],"extrinsically)":[37],"challenging.":[38],"To":[39,161],"address":[40],"this,":[41],"in":[42,134,154],"this":[43],"letter,":[44],"we":[45,168],"propose":[46],"a":[47,111],"model-free":[48],"method":[49,184],"sensorizing":[51],"tentacle-like":[52],"soft-structures":[54],"using":[55,65],"an":[56,148],"array":[57],"spatially":[59],"arranged":[60],"capacitive":[61],"tactile":[62,72,103],"sensors.":[63],"By":[64],"visual":[66,158],"tracking,":[67],"relationship":[69],"between":[70],"response":[73],"three-dimensional":[76],"shape":[77],"soft-structure":[81],"can":[82,115],"be":[83],"learned.":[84],"A":[85],"dataset":[86],"15":[88],"000":[89],"random":[90,170],"soft-body":[91],"postures":[92],"was":[93,107],"used,":[94],"recorded":[96],"camera-tracked":[97],"positions":[98],"logged":[99],"synchronously":[100],"to":[101,109,124,156,186],"sensor":[104],"responses.":[105],"This":[106],"used":[108],"train":[110],"neural":[112],"network":[113],"that":[114,120],"predict":[116],"posture.":[117],"We":[118,181],"show":[119],"it":[121],"is":[122],"possible":[123],"achieve":[125],"proprioceptive":[126],"awareness":[127],"over":[128],"all":[129],"three":[130],"axis":[131],"motion":[133],"space,":[135],"reconstructing":[136],"structure":[139],"inferring":[141],"head's":[145],"pose":[146],"average":[149],"accuracy":[150],"\u22481":[152],"mm":[153],"comparison":[155],"tracked":[159],"counterpart.":[160],"demonstrate":[162],"capabilities":[164],"system,":[167],"perform":[169],"environments":[173],"limiting":[174],"work-space":[176],"sensorized":[179],"robot.":[180],"find":[182],"capable":[185],"autonomously":[187],"reconstruct":[188],"reachable":[190],"morphology":[191],"environment":[194],"without":[195],"need":[197],"external":[199],"units.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
