{"id":"https://openalex.org/W2986622186","doi":"https://doi.org/10.1109/lra.2019.2952292","title":"Exploiting Adaptability in Soft Feet for Sensing Contact Forces","display_name":"Exploiting Adaptability in Soft Feet for Sensing Contact Forces","publication_year":2019,"publication_date":"2019-11-08","ids":{"openalex":"https://openalex.org/W2986622186","doi":"https://doi.org/10.1109/lra.2019.2952292","mag":"2986622186"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2952292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2952292","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11568/1034298","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037681861","display_name":"Domenico Mura","orcid":"https://orcid.org/0000-0002-9576-1106"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Mura","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9576-1106","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1067-1134","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077271684","display_name":"Cristina Piazza","orcid":"https://orcid.org/0000-0002-0358-8677"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristina Piazza","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0358-8677","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025394317","display_name":"Irene Frizza","orcid":"https://orcid.org/0000-0001-5272-1051"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Irene Frizza","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5272-1051","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086420591","display_name":"Cecilia Morandi","orcid":"https://orcid.org/0000-0002-2890-4146"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Morandi","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2890-4146","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cEnrico Piaggio,\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio,\", Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5310-2997","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel Giuseppe Catalano","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1649,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.45473618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"391","last_page":"398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9926999807357788,"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/adaptability","display_name":"Adaptability","score":0.6286394000053406},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6029548645019531},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5743101239204407},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.563982367515564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5350054502487183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5099855661392212},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.4792611598968506},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4642850458621979},{"id":"https://openalex.org/keywords/fictitious-force","display_name":"Fictitious force","score":0.4496519863605499},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.44540467858314514},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.43170490860939026},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3710164427757263},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32698503136634827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32522642612457275},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.320514440536499},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31563979387283325},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2295583188533783},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18973270058631897},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.18124240636825562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1578625738620758},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1340165138244629}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6286394000053406},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6029548645019531},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5743101239204407},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.563982367515564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5350054502487183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5099855661392212},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.4792611598968506},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4642850458621979},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.4496519863605499},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.44540467858314514},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.43170490860939026},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3710164427757263},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32698503136634827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32522642612457275},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.320514440536499},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31563979387283325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2295583188533783},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18973270058631897},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.18124240636825562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1578625738620758},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1340165138244629},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2952292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2952292","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:arpi.unipi.it:11568/1034298","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/1034298","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1034298","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/1034298","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W657029112","https://openalex.org/W1578711174","https://openalex.org/W2037729465","https://openalex.org/W2040669665","https://openalex.org/W2049793590","https://openalex.org/W2094496385","https://openalex.org/W2152957885","https://openalex.org/W2466115735","https://openalex.org/W2472566566","https://openalex.org/W2517429145","https://openalex.org/W2547678094","https://openalex.org/W2549216668","https://openalex.org/W2563940612","https://openalex.org/W2568550321","https://openalex.org/W2588211988","https://openalex.org/W2772523001","https://openalex.org/W2807254784","https://openalex.org/W2884985611","https://openalex.org/W2894781003","https://openalex.org/W2914981446","https://openalex.org/W2947220817","https://openalex.org/W3169777273","https://openalex.org/W4231094725","https://openalex.org/W4250058668","https://openalex.org/W6660373535"],"related_works":["https://openalex.org/W2385608510","https://openalex.org/W1968903915","https://openalex.org/W2921758623","https://openalex.org/W2351130891","https://openalex.org/W2359757059","https://openalex.org/W2368236943","https://openalex.org/W1632899466","https://openalex.org/W2369702608","https://openalex.org/W1496593705","https://openalex.org/W2364237601"],"abstract_inverted_index":{"The":[0,90,117],"large":[1],"majority":[2],"of":[3,40,68,76],"legged":[4],"robots":[5],"currently":[6],"employ":[7],"ball-feet":[8],"or":[9],"flat-feet.":[10],"More":[11],"recently":[12],"soft":[13,60],"feet":[14],"have":[15],"been":[16],"introduced,":[17],"to":[18,36,62,126,139],"improve":[19],"walking":[20],"performance":[21],"on":[22,42],"uneven":[23],"grounds.":[24],"Nevertheless,":[25],"their":[26],"novel":[27],"adaptability":[28],"requires":[29],"sensor":[30],"systems":[31],"beyond":[32],"traditional":[33],"Force/Torque":[34],"sensors":[35],"estimate":[37],"the":[38,43,66,69,74,77,86,102,122,129],"distribution":[39],"forces":[41],"contact":[44,87,131],"surface.":[45],"This":[46],"letter":[47],"shows":[48],"how":[49],"a":[50,59,98,112],"perception":[51],"layer":[52],"realized":[53],"with":[54,97,136],"Inertial":[55],"Measurement":[56],"Units":[57],"allows":[58,125],"foot":[61,70],"reconstruct":[63],"not":[64],"only":[65],"shape":[67,75],"-":[71,80],"hinting":[72],"at":[73],"ground":[78],"beneath":[79],"but":[81],"also,":[82],"under":[83],"precise":[84],"hypotheses,":[85],"force":[88,118],"distribution.":[89],"problem":[91],"is":[92],"theoretically":[93],"formalized":[94],"and":[95],"analysed":[96],"quasi-static":[99],"approach":[100],"in":[101,111],"Sagittal":[103],"plane.":[104],"Then,":[105],"theoretical":[106],"results":[107],"are":[108],"experimentally":[109],"validated":[110],"simplified":[113],"foot-ground":[114],"interaction":[115],"scenario.":[116],"reconstruction":[119],"provided":[120],"by":[121],"proposed":[123],"method":[124],"correctly":[127],"identify":[128],"sole":[130],"location":[132],"arising":[133],"from":[134],"obstacles":[135],"radius":[137],"down":[138],"1":[140],"cm.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2019-11-22T00:00:00"}
