{"id":"https://openalex.org/W4414921239","doi":"https://doi.org/10.1109/lra.2026.3668666","title":"Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation","display_name":"Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation","publication_year":2026,"publication_date":"2026-03-02","ids":{"openalex":"https://openalex.org/W4414921239","doi":"https://doi.org/10.1109/lra.2026.3668666"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3668666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668666","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2507.23592","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049998531","display_name":"Haiyun Zhang","orcid":"https://orcid.org/0000-0001-9097-6637"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haiyun Zhang","raw_affiliation_strings":["Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-9097-6637","affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066098691","display_name":"Stefano Dalla Gasperina","orcid":"https://orcid.org/0000-0002-3466-8397"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Dalla Gasperina","raw_affiliation_strings":["Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-3466-8397","affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067100293","display_name":"Saad N. Yousaf","orcid":"https://orcid.org/0000-0001-6752-937X"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saad N. Yousaf","raw_affiliation_strings":["Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-6752-937X","affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004144168","display_name":"Toshimitsu Tsuboi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Job D. Ramirez","raw_affiliation_strings":["Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-5539-4516","affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078243726","display_name":"Tetsuya Narita","orcid":"https://orcid.org/0000-0003-1214-694X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toshimitsu Tsuboi","raw_affiliation_strings":["Sony Group Corporation, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0006-2430-0296","affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tetsuya Narita","orcid":"https://orcid.org/0000-0003-1214-694X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tetsuya Narita","raw_affiliation_strings":["Sony Group Corporation, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1214-694X","affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113701149","display_name":"Akash Deshpande","orcid":"https://orcid.org/0000-0001-6109-7318"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish D. Deshpande","raw_affiliation_strings":["Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-4152-5933","affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00089077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5781","last_page":"5788"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9679999947547913,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9067999720573425},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7860000133514404},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5909000039100647},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5511999726295471},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.531000018119812},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44690001010894775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42660000920295715},{"id":"https://openalex.org/keywords/match-moving","display_name":"Match moving","score":0.3700999915599823}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9067999720573425},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7860000133514404},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5909000039100647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5828999876976013},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5511999726295471},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.531000018119812},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5085999965667725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5037000179290771},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44690001010894775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42660000920295715},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.3700999915599823},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3668999969959259},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.365200012922287},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33180001378059387},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.314300000667572},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30809998512268066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29269999265670776},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2630999982357025},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2026.3668666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668666","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:2507.23592","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.23592","pdf_url":"https://arxiv.org/pdf/2507.23592","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"},{"id":"pmh:oai:arXiv.org:2507.23592","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2507.23592","pdf_url":"https://arxiv.org/pdf/2507.23592","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"},{"id":"pmh:doi:10.48550/arxiv.2507.23592","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2507.23592","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.23592","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2507.23592","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.23592","pdf_url":"https://arxiv.org/pdf/2507.23592","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":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W4409168415","https://openalex.org/W4224862098","https://openalex.org/W4388901983","https://openalex.org/W3130985948","https://openalex.org/W2980480003","https://openalex.org/W4280607107","https://openalex.org/W2606627193","https://openalex.org/W4283446840","https://openalex.org/W4318953217","https://openalex.org/W4401422997","https://openalex.org/W4309001471","https://openalex.org/W4387886009","https://openalex.org/W2154630542","https://openalex.org/W4368340992","https://openalex.org/W4414050711","https://openalex.org/W4220994367","https://openalex.org/W4392908040","https://openalex.org/W4416748638","https://openalex.org/W3216784012","https://openalex.org/W4385656326","https://openalex.org/W2294251513","https://openalex.org/W2604222328","https://openalex.org/W4320483853","https://openalex.org/W3091133300"],"related_works":[],"abstract_inverted_index":{"Hand":[0],"exoskeletons":[1],"are":[2],"critical":[3],"tools":[4],"for":[5,50],"dexterous":[6],"teleoperation":[7],"and":[8,25,38,80,102,145],"immersive":[9],"manipulation":[10],"interfaces,":[11],"but":[12],"achieving":[13],"accurate":[14,79],"hand":[15,52,89,108,116,137],"tracking":[16,36,53,104],"remains":[17],"a":[18,46,113],"challenge":[19],"due":[20],"to":[21,31,67,135],"user-specific":[22],"anatomical":[23],"variability":[24],"donning":[26],"inconsistencies.":[27],"These":[28],"issues":[29],"lead":[30],"kinematic":[32,143],"misalignments":[33],"that":[34,54,140],"degrade":[35],"performance":[37],"limit":[39],"applicability":[40],"in":[41,100,133],"precision":[42],"tasks.":[43],"We":[44],"propose":[45],"subject-specific":[47],"calibration":[48,82],"framework":[49,129],"exoskeleton-based":[51],"estimates":[55],"virtual":[56,115],"link":[57],"parameters":[58],"through":[59],"residual-weighted":[60],"optimization.":[61],"A":[62],"data-driven":[63],"approach":[64],"is":[65],"introduced":[66],"empirically":[68],"tune":[69],"cost":[70],"function":[71],"weights":[72],"using":[73,112],"motion":[74,120],"capture":[75],"ground":[76],"truth,":[77],"enabling":[78],"consistent":[81],"across":[83,106],"users.":[84],"Implemented":[85],"on":[86,124],"the":[87,95,125,128],"MAESTRO":[88,126],"exoskeleton":[90,138],"with":[91],"seven":[92],"healthy":[93],"participants,":[94],"method":[96],"achieved":[97],"substantial":[98],"reductions":[99],"joint":[101],"fingertip":[103],"errors":[105],"diverse":[107],"geometries.":[109],"Qualitative":[110],"visualizations":[111],"Unity-based":[114],"further":[117],"demonstrate":[118],"improved":[119],"fidelity.":[121],"While":[122],"demonstrated":[123],"exoskeleton,":[127],"may":[130],"be":[131],"extended":[132],"principle":[134],"other":[136],"systems":[139],"provide":[141],"comparable":[142],"constraints":[144],"sensing":[146],"capabilities.":[147]},"counts_by_year":[],"updated_date":"2026-06-12T06:20:11.936012","created_date":"2025-10-08T00:00:00"}