{"id":"https://openalex.org/W4391092749","doi":"https://doi.org/10.1109/lra.2024.3356979","title":"Impact of Physical Parameters and Vision Data on Deep Learning-Based Grip Force Estimation for Fluidic Origami Soft Grippers","display_name":"Impact of Physical Parameters and Vision Data on Deep Learning-Based Grip Force Estimation for Fluidic Origami Soft Grippers","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391092749","doi":"https://doi.org/10.1109/lra.2024.3356979"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3356979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3356979","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/A5080259529","display_name":"Eojin Rho","orcid":"https://orcid.org/0000-0003-0895-7803"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eojin Rho","raw_affiliation_strings":["Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-0895-7803","affiliations":[{"raw_affiliation_string":"Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054163825","display_name":"Woongbae Kim","orcid":"https://orcid.org/0000-0002-6126-7935"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woongbae Kim","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology(KIST), Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-6126-7935","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology(KIST), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028292436","display_name":"Jungwook Mun","orcid":"https://orcid.org/0000-0002-7058-190X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwook Mun","raw_affiliation_strings":["Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7058-190X","affiliations":[{"raw_affiliation_string":"Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045062045","display_name":"Sung Yol Yu","orcid":"https://orcid.org/0009-0008-8535-9739"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung Yol Yu","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0008-8535-9739","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2555-5048","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029363735","display_name":"Sungho Jo","orcid":"https://orcid.org/0000-0002-7618-362X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungho Jo","raw_affiliation_strings":["Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7618-362X","affiliations":[{"raw_affiliation_string":"Neuro-Machine Augmented Intelligence Lab, School of Computing, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4999,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.53108336,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2487","last_page":"2494"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/grippers","display_name":"Grippers","score":0.8467282056808472},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.6147380471229553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48532694578170776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45451897382736206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4448699951171875},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4198191463947296},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4170604944229126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3704044222831726},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3529598116874695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23958972096443176},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21487480401992798}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8467282056808472},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.6147380471229553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48532694578170776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45451897382736206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4448699951171875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4198191463947296},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4170604944229126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3704044222831726},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3529598116874695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23958972096443176},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21487480401992798}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3356979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3356979","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":[{"display_name":"Gender equality","id":"https://metadata.un.org/sdg/5","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2296718990","https://openalex.org/W2560704029","https://openalex.org/W2567812607","https://openalex.org/W2618733545","https://openalex.org/W2781493652","https://openalex.org/W2887114371","https://openalex.org/W2887246657","https://openalex.org/W2897854721","https://openalex.org/W2913446864","https://openalex.org/W2962736495","https://openalex.org/W2970521931","https://openalex.org/W2990410878","https://openalex.org/W2999228329","https://openalex.org/W3045333156","https://openalex.org/W3080591218","https://openalex.org/W3107182332","https://openalex.org/W3157385138","https://openalex.org/W3165341029","https://openalex.org/W3174427284","https://openalex.org/W3191152719","https://openalex.org/W4205367930","https://openalex.org/W4205714625","https://openalex.org/W4214644029","https://openalex.org/W4220954384","https://openalex.org/W4229071651","https://openalex.org/W4285149089","https://openalex.org/W4290705998","https://openalex.org/W4306632919","https://openalex.org/W4312826119","https://openalex.org/W4365814887","https://openalex.org/W4367298210","https://openalex.org/W4383108287"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699","https://openalex.org/W4307832533","https://openalex.org/W4385356446","https://openalex.org/W3119366040","https://openalex.org/W4307256295","https://openalex.org/W2973761438"],"abstract_inverted_index":{"Knowing":[0],"the":[1,13,16,30,79,112,124,131,161,188],"gripping":[2,67],"force":[3,68,87,176],"being":[4],"applied":[5,134],"to":[6],"an":[7,36,97,107],"object":[8,95],"is":[9],"important":[10],"for":[11,138,150],"improving":[12],"quality":[14],"of":[15,26,32,40,82,114,123,145],"grip,":[17],"as":[18,20],"well":[19],"preventing":[21],"surface":[22],"damage":[23],"or":[24,38,47],"breakage":[25],"fragile":[27],"objects.":[28],"In":[29,56,118],"case":[31],"soft":[33,84],"grippers,":[34],"however,":[35],"attaching":[37],"embedding":[39],"force/pressure":[41],"sensors":[42],"can":[43],"compromise":[44],"their":[45,49,172],"adaptability":[46],"constrain":[48],"design":[50],"in":[51,175],"scenarios":[52],"involving":[53],"significant":[54],"deformation/deployment.":[55],"this":[57],"paper,":[58],"we":[59],"present":[60],"a":[61,83,92,115,141,184],"vision-based":[62],"neural":[63],"network(OriGripNet)":[64],"that":[65,164,181],"estimates":[66],"by":[69,106],"combining":[70],"RGB":[71,108],"image":[72,102,169],"data":[73,88,103],"with":[74,96],"key":[75],"parameters":[76],"extracted":[77,129],"from":[78,130],"physical":[80],"features":[81],"gripper.":[85],"Real-world":[86],"was":[89,104],"collected":[90,105],"using":[91],"reconfigurable":[93],"test":[94],"embedded":[98],"load":[99],"cell":[100],"while":[101],"camera":[109],"mounted":[110],"on":[111,187],"wrist":[113],"robotic":[116],"arm.":[117],"addition,":[119],"joint":[120,166],"position":[121],"information":[122,170],"pneumatically":[125],"driven":[126],"origami":[127],"gripper":[128],"images,":[132],"and":[133,168,180],"pressure":[135],"were":[136],"used":[137],"training":[139],"ofOriGripNet.OriGripNetshowed":[140],"mean":[142],"average":[143],"error(MAE)":[144],"0.0636":[146],"N":[147],"when":[148,190],"tested":[149],"untrained":[151],"objects,":[152],"yet":[153],"some":[154],"values":[155],"exhibited":[156],"errors":[157],"exceeding":[158],"20%.":[159],"Nevertheless,":[160],"results":[162],"show":[163],"pressure,":[165],"position,":[167],"have":[171,183],"own":[173],"strengths":[174],"estimation,":[177,179],"contact":[178],"they":[182],"synergistic":[185],"effect":[186],"performance":[189],"combined.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}