{"id":"https://openalex.org/W3035861026","doi":"https://doi.org/10.1109/lra.2020.3002199","title":"Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network With Parametric Bias","display_name":"Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network With Parametric Bias","publication_year":2020,"publication_date":"2020-06-15","ids":{"openalex":"https://openalex.org/W3035861026","doi":"https://doi.org/10.1109/lra.2020.3002199","mag":"3035861026"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3002199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3002199","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.08050","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7464-7187","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003041497","display_name":"Kei Tsuzuki","orcid":"https://orcid.org/0000-0002-7406-5523"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Tsuzuki","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7406-5523","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028275081","display_name":"Moritaka Onitsuka","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Moritaka Onitsuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044477785","display_name":"Yuki Asano","orcid":"https://orcid.org/0000-0003-2115-1417"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Asano","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2115-1417","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["TOYOTA Motor Corporation, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TOYOTA Motor Corporation, Aichi, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5319,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.89353984,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"5","issue":"3","first_page":"4580","last_page":"4587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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":0.9976999759674072,"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/initialization","display_name":"Initialization","score":0.8519845008850098},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6769649386405945},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6595602035522461},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6568472385406494},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5708330273628235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5624105334281921},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5263099670410156},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36680370569229126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36140769720077515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3356935977935791},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24329587817192078}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8519845008850098},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769649386405945},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6595602035522461},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6568472385406494},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5708330273628235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5624105334281921},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5263099670410156},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36680370569229126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36140769720077515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3356935977935791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24329587817192078},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3002199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3002199","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:arXiv.org:2407.08050","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.08050","pdf_url":"https://arxiv.org/pdf/2407.08050","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":{"id":"pmh:oai:arXiv.org:2407.08050","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.08050","pdf_url":"https://arxiv.org/pdf/2407.08050","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3035861026.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1665214252","https://openalex.org/W1836465849","https://openalex.org/W1888892744","https://openalex.org/W1966364438","https://openalex.org/W1977576450","https://openalex.org/W1978360037","https://openalex.org/W2063149136","https://openalex.org/W2064675550","https://openalex.org/W2210408922","https://openalex.org/W2416254177","https://openalex.org/W2498917392","https://openalex.org/W2585344004","https://openalex.org/W2775012877","https://openalex.org/W2781951040","https://openalex.org/W2910282705","https://openalex.org/W2949272011","https://openalex.org/W2968883249","https://openalex.org/W3003170810","https://openalex.org/W3089373229","https://openalex.org/W4235910938","https://openalex.org/W6637242042","https://openalex.org/W6638667902","https://openalex.org/W6681576234","https://openalex.org/W6716503989","https://openalex.org/W6783623231","https://openalex.org/W7067567053"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W2072565696","https://openalex.org/W2050451745","https://openalex.org/W2378903222"],"abstract_inverted_index":{"The":[0],"flexible":[1],"musculoskeletal":[2,68,120],"hand":[3,69,83,117],"is":[4,36],"difficult":[5],"to":[6,15,39,49,60,115],"modelize,":[7],"and":[8,29,94,96,123],"its":[9,125],"model":[10],"can":[11,84,97],"change":[12],"constantly":[13],"due":[14],"deterioration":[16,100],"over":[17,101],"time,":[18,102],"irreproducibility":[19,103],"of":[20,66,87,104,118],"initialization,":[21,105],"etc.":[22,106],"Also,":[23],"for":[24,45],"object":[25],"recognition,":[26],"contact":[27,30,91],"detection,":[28,93],"control":[31],"using":[32,70,79],"the":[33,67,82,88,116,119],"hand,":[34],"it":[35],"desirable":[37],"not":[38],"use":[40,50],"a":[41,58,62,71],"neural":[42,73],"network":[43,74],"trained":[44],"each":[46],"task,":[47],"but":[48],"only":[51],"one":[52],"integrated":[53],"network.":[54],"Therefore,":[55],"we":[56],"develop":[57],"method":[59],"acquire":[61],"sensor":[63],"state":[64],"equation":[65],"recurrent":[72],"with":[75,99],"parametric":[76,109],"bias.":[77,110],"By":[78],"this":[80,113],"network,":[81],"realize":[85],"recognition":[86],"grasped":[89],"object,":[90],"simulation,":[92],"control,":[95],"cope":[98],"by":[107],"updating":[108],"We":[111],"apply":[112],"study":[114],"humanoid":[121],"Musashi":[122],"show":[124],"effectiveness.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2020-06-25T00:00:00"}