{"id":"https://openalex.org/W4327522620","doi":"https://doi.org/10.1109/lra.2023.3257680","title":"Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback","display_name":"Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback","publication_year":2023,"publication_date":"2023-03-15","ids":{"openalex":"https://openalex.org/W4327522620","doi":"https://doi.org/10.1109/lra.2023.3257680"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3257680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3257680","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/A5100332185","display_name":"Hanwen Zhang","orcid":"https://orcid.org/0000-0003-4081-8838"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I4210128284","display_name":"Institute of Optics and Electronics, Chinese Academy of Sciences","ror":"https://ror.org/02bn68w95","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hanwen Zhang","raw_affiliation_strings":["Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore","Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu, China","School of Electrical, Electronic and Communication Engineering, University of Chinese Academy of Science, Beijing, China","Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]},{"raw_affiliation_string":"School of Electrical, Electronic and Communication Engineering, University of Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062544871","display_name":"Zeyu Lu","orcid":"https://orcid.org/0000-0001-8702-7799"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zeyu Lu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-8702-7799","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080546069","display_name":"Wenyu Liang","orcid":"https://orcid.org/0000-0003-0278-2723"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenyu Liang","raw_affiliation_strings":["Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0278-2723","affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053467438","display_name":"Yao Mao","orcid":"https://orcid.org/0000-0003-1785-2018"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128284","display_name":"Institute of Optics and Electronics, Chinese Academy of Sciences","ror":"https://ror.org/02bn68w95","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Mao","raw_affiliation_strings":["Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu, China","Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-1785-2018","affiliations":[{"raw_affiliation_string":"Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]},{"raw_affiliation_string":"Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128284"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017822851","display_name":"Yan Wu","orcid":"https://orcid.org/0000-0002-4644-0664"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yan Wu","raw_affiliation_strings":["Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4644-0664","affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research (I<sup>2</sup>R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.694,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63528414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":"5","first_page":"2700","last_page":"2707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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":0.9975000023841858,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6518976092338562},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6238099932670593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052265763282776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5542949438095093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5499800443649292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47682613134384155},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4438122808933258},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44244006276130676},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42872804403305054},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4105954170227051},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33396637439727783},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10108000040054321}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6518976092338562},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6238099932670593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052265763282776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5542949438095093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5499800443649292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47682613134384155},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4438122808933258},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44244006276130676},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42872804403305054},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4105954170227051},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33396637439727783},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10108000040054321},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3257680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3257680","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W283036238","https://openalex.org/W1591018827","https://openalex.org/W1997054581","https://openalex.org/W2285267286","https://openalex.org/W2289725842","https://openalex.org/W2335253064","https://openalex.org/W2399731623","https://openalex.org/W2730644873","https://openalex.org/W2735197468","https://openalex.org/W2766388929","https://openalex.org/W2793362685","https://openalex.org/W2963611087","https://openalex.org/W3006936931","https://openalex.org/W3008592843","https://openalex.org/W3033769900","https://openalex.org/W3098898877","https://openalex.org/W3101360817","https://openalex.org/W3101392902","https://openalex.org/W3114977466","https://openalex.org/W3131719100","https://openalex.org/W3176926256","https://openalex.org/W4225912419","https://openalex.org/W4226113905","https://openalex.org/W4285226930","https://openalex.org/W4317038623","https://openalex.org/W6910530838"],"related_works":["https://openalex.org/W3128324021","https://openalex.org/W1960616769","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2709287450","https://openalex.org/W3163427917","https://openalex.org/W2121836998","https://openalex.org/W2040114039","https://openalex.org/W2027665490","https://openalex.org/W2106712047"],"abstract_inverted_index":{"The":[0,83,164],"human":[1],"sense":[2],"of":[3,160],"touch":[4],"enables":[5],"us":[6],"to":[7,114,136,156],"perform":[8],"delicate":[9],"tasks":[10],"on":[11],"deformable":[12,74,149],"objects":[13,75],"and/or":[14],"in":[15,86,99,140,188],"a":[16,29,51,59,128],"vision-denied":[17],"environment.":[18,126],"To":[19],"achieve":[20,181],"similar":[21],"desirable":[22],"interactions":[23],"for":[24,40,71,93],"robots,":[25],"such":[26],"as":[27,178,180],"administering":[28],"swab":[30],"test,":[31],"tactile":[32],"information":[33],"sensed":[34],"beyond":[35,76],"the":[36,77,118,122,125,138,145,148,158,161,169,175],"tool-in-hand":[37],"is":[38,81,88,112,134],"crucial":[39],"contact":[41,45,79,100,119,176],"state":[42,101],"estimation":[43,102],"and":[44,54,103,109,116,124,185],"force":[46,104,189],"control.":[47,190],"In":[48],"this":[49],"letter,":[50],"tactile-guided":[52],"planning":[53],"control":[55,132,142],"framework":[56,171],"using":[57],"GTac,":[58],"hetero":[60],"<italic":[61,65],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[62,66],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">G</i>":[63],"eneous":[64],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Tac</i>":[67],"tile":[68],"sensor":[69],"tailored":[70],"interaction":[72,146],"with":[73,147],"immediate":[78],"area,":[80],"proposed.":[82],"biomimetic":[84],"GTac":[85],"use":[87],"an":[89],"improved":[90],"version":[91],"optimized":[92],"readout":[94],"linearity,":[95],"which":[96],"provides":[97],"reliability":[98],"tracking.":[105],"A":[106],"tactile-based":[107],"classification":[108],"manipulation":[110],"process":[111],"designed":[113],"estimate":[115,174],"align":[117],"angle":[120,177],"between":[121],"tool":[123],"Moreover,":[127],"Koopman":[129],"operator-based":[130],"optimal":[131],"scheme":[133],"proposed":[135,162,170],"address":[137],"challenges":[139],"nonlinear":[141],"arising":[143],"from":[144],"object.":[150],"Finaly,":[151],"several":[152],"experiments":[153],"are":[154],"conducted":[155],"verify":[157],"effectiveness":[159],"framework.":[163],"experimental":[165],"results":[166],"demonstrate":[167],"that":[168],"can":[172],"accurately":[173],"well":[179],"excellent":[182],"tracking":[183],"performance":[184],"strong":[186],"robustness":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}