{"id":"https://openalex.org/W4410226463","doi":"https://doi.org/10.1109/lra.2025.3568616","title":"Tactile Sensor-Based Estimation of Grasp Force and Contact State With Soft Fingers","display_name":"Tactile Sensor-Based Estimation of Grasp Force and Contact State With Soft Fingers","publication_year":2025,"publication_date":"2025-05-09","ids":{"openalex":"https://openalex.org/W4410226463","doi":"https://doi.org/10.1109/lra.2025.3568616"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568616","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":["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/A5009176323","display_name":"Hun Jang","orcid":"https://orcid.org/0009-0007-2532-7260"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hun Jang","raw_affiliation_strings":["Department of Automation, Fraunhofer IPK, Berlin, Germany","Department of Automation, Fraunhofer IPK, Germany"],"raw_orcid":"https://orcid.org/0009-0007-2532-7260","affiliations":[{"raw_affiliation_string":"Department of Automation, Fraunhofer IPK, Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]},{"raw_affiliation_string":"Department of Automation, Fraunhofer IPK, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041267142","display_name":"Joonbum Bae","orcid":"https://orcid.org/0000-0001-7030-2184"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonbum Bae","raw_affiliation_strings":["School of Mechanical Engineering, Korea University, Seoul, South Korea","School of Mechanical Engineering, Korea University, Korea"],"raw_orcid":"https://orcid.org/0000-0001-7030-2184","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002775217","display_name":"Kevin Haninger","orcid":"https://orcid.org/0000-0002-5294-5458"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kevin Haninger","raw_affiliation_strings":["Department of Automation, Fraunhofer IPK, Berlin, Germany","Department of Automation, Fraunhofer IPK, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5294-5458","affiliations":[{"raw_affiliation_string":"Department of Automation, Fraunhofer IPK, Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]},{"raw_affiliation_string":"Department of Automation, Fraunhofer IPK, Germany","institution_ids":["https://openalex.org/I4210148503"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009176323"],"corresponding_institution_ids":["https://openalex.org/I4210148503"],"apc_list":null,"apc_paid":null,"fwci":0.6013,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65628076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"7","first_page":"7246","last_page":"7253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9825999736785889,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9825999736785889,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9814000129699707,"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":0.9685999751091003,"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/grasp","display_name":"GRASP","score":0.8193269371986389},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6629937887191772},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6122276782989502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5063599348068237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33823615312576294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21972054243087769},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1288023591041565},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09185037016868591}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8193269371986389},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6629937887191772},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6122276782989502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5063599348068237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33823615312576294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21972054243087769},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1288023591041565},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09185037016868591},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3568616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568616","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:publica.fraunhofer.de:publica/512762","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/512762","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320323890","display_name":"Korea Creative Content Agency","ror":"https://ror.org/036vyg793"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1902605501","https://openalex.org/W1988430851","https://openalex.org/W2048432791","https://openalex.org/W2051577496","https://openalex.org/W2081425463","https://openalex.org/W2109163007","https://openalex.org/W2784648116","https://openalex.org/W2792360281","https://openalex.org/W2896815409","https://openalex.org/W2913446864","https://openalex.org/W2950069298","https://openalex.org/W2967936796","https://openalex.org/W2980473643","https://openalex.org/W2997878984","https://openalex.org/W3007866085","https://openalex.org/W3010777190","https://openalex.org/W3038216440","https://openalex.org/W3090143443","https://openalex.org/W3138117074","https://openalex.org/W3165341029","https://openalex.org/W3184110732","https://openalex.org/W3210063425","https://openalex.org/W3210514078","https://openalex.org/W3213189848","https://openalex.org/W3213517261","https://openalex.org/W4210789063","https://openalex.org/W4210883951","https://openalex.org/W4282945494","https://openalex.org/W4383097501","https://openalex.org/W4383109127","https://openalex.org/W4385482460","https://openalex.org/W4386533790","https://openalex.org/W4389665582","https://openalex.org/W4402586286","https://openalex.org/W4404501472","https://openalex.org/W4405786799","https://openalex.org/W6637572315","https://openalex.org/W6802749953"],"related_works":["https://openalex.org/W3133406196","https://openalex.org/W2963326767","https://openalex.org/W1926827207","https://openalex.org/W1960616769","https://openalex.org/W2133659289","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450"],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"fingers":[2],"can":[3,30,37],"improve":[4,38],"adaptability":[5],"in":[6,14,135,144],"grasping":[7],"and":[8,24,33,102,124,140],"manipulation,":[9],"compensating":[10],"for":[11,64,84,114],"geometric":[12],"variation":[13],"object":[15,82],"or":[16],"environmental":[17],"contact,":[18],"but":[19,40],"today":[20],"lack":[21],"force":[22,49,77,97,115],"capacity":[23],"fine":[25],"dexterity.":[26],"Integrated":[27],"tactile":[28],"sensors":[29,101],"provide":[31],"grasp":[32,61,65],"task":[34,138],"information":[35,57],"which":[36],"dexterity,":[39],"should":[41],"ideally":[42],"not":[43],"require":[44],"object-specific":[45],"training.":[46],"The":[47],"total":[48],"vector":[50],"exerted":[51],"by":[52],"a":[53,111,121,125,136],"finger":[54,96],"provides":[55],"general":[56],"to":[58,105],"the":[59,75,80,92],"internal":[60],"forces":[62],"(e.g.":[63,83],"stability)":[66],"and,":[67],"when":[68],"summed":[69],"over":[70],"fingers,":[71],"an":[72],"estimate":[73,106],"of":[74,94,127],"external":[76],"acting":[78],"on":[79],"grasped":[81],"task-level":[85],"control).":[86],"In":[87],"this":[88,133],"study,":[89],"we":[90,131],"investigate":[91],"efficacy":[93],"estimating":[95,145],"from":[98],"integrated":[99],"soft":[100],"use":[103,110],"it":[104],"contact":[107,146],"states.":[108,147],"We":[109],"neural":[112],"network":[113],"regression,":[116],"collecting":[117],"labelled":[118],"data":[119],"with":[120],"force/torque":[122],"sensor":[123],"range":[126],"test":[128],"objects.":[129],"Subsequently,":[130],"apply":[132],"model":[134],"plug-in":[137],"scenario":[139],"demonstrate":[141],"its":[142],"validity":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}