{"id":"https://openalex.org/W4408222680","doi":"https://doi.org/10.1109/robio64047.2024.10907710","title":"Contact Force Estimation by Fusing Current and Tactile Information Through KF for Robot Arm","display_name":"Contact Force Estimation by Fusing Current and Tactile Information Through KF for Robot Arm","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222680","doi":"https://doi.org/10.1109/robio64047.2024.10907710"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5102001776","display_name":"Yujie Tian","orcid":"https://orcid.org/0000-0002-4466-8833"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Tian","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092674636","display_name":"Chengfang Guang","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengfang Guang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046510567","display_name":"Ruiqing Luo","orcid":"https://orcid.org/0000-0002-3383-1420"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiqing Luo","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103045861","display_name":"Sheng Bao","orcid":"https://orcid.org/0000-0001-5584-5164"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Bao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101568037","display_name":"Jianjun Yuan","orcid":"https://orcid.org/0000-0001-9947-8124"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yuan","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075620600","display_name":"Liang Du","orcid":"https://orcid.org/0000-0003-1297-3865"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Du","raw_affiliation_strings":["Shanghai Robotics Institute, School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Robotics Institute, School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084497518","display_name":"Zhengtao Hu","orcid":"https://orcid.org/0000-0002-7124-6089"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengtao Hu","raw_affiliation_strings":["Shanghai Robotics Institute, School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Robotics Institute, School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]}],"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":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25869699,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2259","last_page":"2264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9577999711036682,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9577999711036682,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9541000127792358,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9398999810218811,"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/robot","display_name":"Robot","score":0.6603614687919617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5623055696487427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.553804337978363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5475441813468933},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5216451287269592},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.515414834022522},{"id":"https://openalex.org/keywords/current","display_name":"Current (fluid)","score":0.513999879360199},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42700162529945374},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4104209542274475},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21183112263679504},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1802661418914795},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0910075306892395}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6603614687919617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5623055696487427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.553804337978363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5475441813468933},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5216451287269592},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.515414834022522},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.513999879360199},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42700162529945374},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4104209542274475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21183112263679504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1802661418914795},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0910075306892395},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/robio64047.2024.10907710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1769082156","https://openalex.org/W1979369614","https://openalex.org/W2103478548","https://openalex.org/W2233054370","https://openalex.org/W2607714105","https://openalex.org/W2897854721","https://openalex.org/W2952332229","https://openalex.org/W3014571049","https://openalex.org/W3138616321","https://openalex.org/W4317242554","https://openalex.org/W4317383126","https://openalex.org/W4322706742","https://openalex.org/W4327808452","https://openalex.org/W4386066181","https://openalex.org/W4387106233","https://openalex.org/W4390099813"],"related_works":["https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450","https://openalex.org/W2040114039","https://openalex.org/W2221525596","https://openalex.org/W2027665490","https://openalex.org/W2106712047"],"abstract_inverted_index":{"Accurate":[0],"contact":[1,16,49,102,131],"force":[2,17,60,103,132,145],"estimation":[3,18,47,61,104],"is":[4,119],"crucial":[5],"for":[6,83],"interactions":[7],"between":[8],"the":[9,46,57,80,98,101,107,142],"robot":[10,52,86],"arm":[11,53,87],"and":[12,32,100],"its":[13],"environment.":[14],"Presently,":[15],"based":[19,121],"on":[20,122],"current":[21,43,78],"information":[22,40,68],"often":[23],"suffers":[24],"from":[25],"biases":[26],"caused":[27],"by":[28],"unmodeled":[29],"errors,":[30],"noise,":[31],"various":[33],"other":[34],"factors.":[35],"In":[36],"contrast,":[37],"tactile":[38,81,108],"sensors":[39],"effectively":[41],"complements":[42],"information,":[44],"enhancing":[45,141],"of":[48,59,97,106,144],"forces":[50],"in":[51],"interactions.":[54],"To":[55],"improve":[56],"accuracy":[58,143],"without":[62,137],"force/torque":[63,138],"sensors,":[64,139],"we":[65],"propose":[66],"an":[67],"fusion":[69,117],"method":[70,118],"utilizing":[71],"Kalman":[72],"Filter":[73],"(KF)":[74],"to":[75],"incorporate":[76],"motor":[77],"with":[79,88],"sensor":[82,109],"a":[84,114],"nursing":[85],"Differential":[89],"Modular":[90],"Joints":[91],"(DMJ).":[92],"The":[93,126],"coupling":[94],"dynamic":[95],"model":[96,105],"DMJ":[99],"are":[110],"established":[111],"respectively.":[112],"Subsequently,":[113],"linear":[115],"KF":[116],"introduced":[120],"these":[123],"two":[124],"methods.":[125],"experimental":[127],"results":[128],"indicate":[129],"that":[130],"can":[133],"be":[134],"reliably":[135],"estimated":[136],"significantly":[140],"estimation.":[146]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}