{"id":"https://openalex.org/W2963379061","doi":"https://doi.org/10.1109/lra.2019.2930477","title":"Effective Estimation of Contact Force and Torque for Vision-Based Tactile Sensors With Helmholtz\u2013Hodge Decomposition","display_name":"Effective Estimation of Contact Force and Torque for Vision-Based Tactile Sensors With Helmholtz\u2013Hodge Decomposition","publication_year":2019,"publication_date":"2019-07-23","ids":{"openalex":"https://openalex.org/W2963379061","doi":"https://doi.org/10.1109/lra.2019.2930477","mag":"2963379061"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2930477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2930477","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"],"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/A5046899246","display_name":"Yazhan Zhang","orcid":"https://orcid.org/0000-0003-4847-8751"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yazhan Zhang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4847-8751","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034988215","display_name":"Zicheng Kan","orcid":"https://orcid.org/0000-0001-9145-1568"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zicheng Kan","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9145-1568","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-6216-7437","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082715921","display_name":"Yu Alexander Tse","orcid":"https://orcid.org/0000-0001-9879-3552"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yu Alexander Tse","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9879-3552","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering and the Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-6524-5741","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and the Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7539,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.90816327,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"4","first_page":"4094","last_page":"4101"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6527822017669678},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6224615573883057},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5721611976623535},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5608082413673401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5596480369567871},{"id":"https://openalex.org/keywords/helmholtz-free-energy","display_name":"Helmholtz free energy","score":0.5347330570220947},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5299493074417114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5097072124481201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48199597001075745},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3291783630847931},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13282257318496704}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6527822017669678},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6224615573883057},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5721611976623535},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5608082413673401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5596480369567871},{"id":"https://openalex.org/C27592594","wikidata":"https://www.wikidata.org/wiki/Q865821","display_name":"Helmholtz free energy","level":2,"score":0.5347330570220947},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5299493074417114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5097072124481201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48199597001075745},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3291783630847931},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13282257318496704},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2019.2930477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2930477","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:repository.hkust.edu.hk:1783.1-98594","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-98594","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"pmh:oai:repository.ust.hk:1783.1-98594","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=&rft.volume=4&rft.issue=Issue 4&rft.date=2019&rft.spage=4094&rft.aulast=Zhang&rft.aufirst=Yazhan&rft.atitle=Effective+Estimation+of+Contact+Force+and+Torque+for+Vision-Based+Tactile+Sensors+With+Helmholtz%E2%80%93Hodge+Decomposition&rft.title=IEEE+Robotics+and+Automation+Letters","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G450250395","display_name":null,"funder_award_id":"ITS-018-17FP","funder_id":"https://openalex.org/F4320324196","funder_display_name":"Innovation and Technology Commission - Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320324196","display_name":"Innovation and Technology Commission - Hong Kong","ror":"https://ror.org/04vf9tr09"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W1762028192","https://openalex.org/W2044385827","https://openalex.org/W2073178762","https://openalex.org/W2074746802","https://openalex.org/W2078072002","https://openalex.org/W2091157284","https://openalex.org/W2118191883","https://openalex.org/W2125959037","https://openalex.org/W2169364846","https://openalex.org/W2171130677","https://openalex.org/W2421020186","https://openalex.org/W2569244399","https://openalex.org/W2607172324","https://openalex.org/W2743209907","https://openalex.org/W2775635818","https://openalex.org/W2810710802","https://openalex.org/W2890493039","https://openalex.org/W2895765426","https://openalex.org/W2910831843","https://openalex.org/W2962688712","https://openalex.org/W3104208381","https://openalex.org/W4293864931","https://openalex.org/W6755778230"],"related_works":["https://openalex.org/W3133406196","https://openalex.org/W4386395740","https://openalex.org/W1926827207","https://openalex.org/W2157702526","https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2709287450","https://openalex.org/W3163427917"],"abstract_inverted_index":{"Retrieving":[0],"rich":[1],"contact":[2,37,52,85,126,150],"information":[3],"from":[4,83],"robotic":[5],"tactile":[6,43],"sensing":[7],"has":[8],"been":[9],"a":[10,71,125,133],"challenging,":[11],"yet":[12],"significant":[13],"task":[14],"for":[15,41],"the":[16,23,48,51,67,80,84,90,105,108],"effective":[17],"perception":[18],"of":[19,50,55,73,96,107,113,149],"object":[20],"properties":[21],"that":[22],"robot":[24],"interacts":[25],"with.":[26],"This":[27],"letter":[28],"is":[29,121,141],"dedicated":[30],"to":[31,35,103,143],"developing":[32],"an":[33],"algorithm":[34,120],"estimate":[36],"force":[38,127,137,154],"and":[39,77,98,116,140,152],"torque":[40,78],"vision-based":[42],"sensors.":[44],"We":[45],"first":[46],"introduce":[47],"observation":[49],"deformation":[53,86],"patterns":[54],"hyperelastic":[56],"materials":[57],"under":[58],"ideal":[59],"single-axial":[60],"loads":[61],"in":[62,111,146],"simulation.":[63],"Then,":[64],"based":[65],"on":[66],"observation,":[68],"we":[69],"propose":[70],"method":[72,110],"estimating":[74],"surface":[75,81],"forces":[76],"w.r.t.":[79],"normal":[82],"vector":[87],"field":[88],"with":[89],"Helmholtz-Hodge":[91],"decomposition":[92],"algorithm.":[93],"Extensive":[94],"experiments":[95],"calibration":[97],"baseline":[99],"comparison":[100],"are":[101],"followed":[102],"verify":[104],"effectiveness":[106],"proposed":[109,119],"terms":[112],"prediction":[114],"error":[115],"variance.":[117],"The":[118],"further":[122],"integrated":[123],"into":[124],"visualization":[128,148],"module":[129],"as":[130,132],"well":[131],"closed-loop":[134],"adaptive":[135],"grasp":[136],"control":[138],"framework":[139],"shown":[142],"be":[144],"useful":[145],"both":[147],"stability":[151],"minimum":[153],"grasping":[155],"task.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
