{"id":"https://openalex.org/W2943198383","doi":"https://doi.org/10.1109/sii.2019.8700365","title":"Generation of a Tactile-based Pouring Motion Using Fingertip Force Sensors","display_name":"Generation of a Tactile-based Pouring Motion Using Fingertip Force Sensors","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2943198383","doi":"https://doi.org/10.1109/sii.2019.8700365","mag":"2943198383"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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/A5049153408","display_name":"Takuya Kiyokawa","orcid":"https://orcid.org/0000-0002-8555-8489"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takuya Kiyokawa","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606824","display_name":"Ming Ding","orcid":"https://orcid.org/0000-0002-4919-5772"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ming Ding","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gustavo Alfonso Garcia Ricardez","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049153408"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.4989,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64099223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"669","last_page":"674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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":0.7362306118011475},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6637704968452454},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6056195497512817},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5927874445915222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5541078448295593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515576601028442},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5515463352203369},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5183402299880981},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4891720116138458},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3543471097946167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3412137031555176},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08719953894615173},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08199775218963623}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7362306118011475},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6637704968452454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6056195497512817},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5927874445915222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5541078448295593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515576601028442},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5515463352203369},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5183402299880981},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4891720116138458},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3543471097946167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3412137031555176},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08719953894615173},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08199775218963623},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2019.8700365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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":10,"referenced_works":["https://openalex.org/W1844329104","https://openalex.org/W2081857580","https://openalex.org/W2127215773","https://openalex.org/W2530616813","https://openalex.org/W2542262075","https://openalex.org/W2558355904","https://openalex.org/W2568736373","https://openalex.org/W2592171038","https://openalex.org/W2769112066","https://openalex.org/W2782844941"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W2727798326","https://openalex.org/W3133406196","https://openalex.org/W2742785019","https://openalex.org/W4386395740","https://openalex.org/W1859354494","https://openalex.org/W2121077487","https://openalex.org/W2051859390","https://openalex.org/W2942781953","https://openalex.org/W2101105382"],"abstract_inverted_index":{"To":[0],"pour":[1,189],"various":[2],"contents":[3,151,191],"from":[4,152,171],"a":[5,7,15,31,50,55,61,109,115,125,153,157,172,176],"container,":[6],"robot":[8,51,84,122,148,160,187],"needs":[9],"to":[10,13,20,24,38,64,89,123,188],"be":[11],"able":[12],"generate":[14,39],"trajectory":[16],"of":[17,67,75,95,104,137,165,199],"its":[18],"arm,":[19,52],"grasp":[21],"containers,":[22],"and":[23,59,100,128],"estimate":[25,90],"the":[26,40,46,68,83,86,91,96,101,105,121,135,138,147,150,162,182,186,190,193,197,200],"amount":[27,92],"poured.":[28],"We":[29,133],"propose":[30],"method":[32,184],"only":[33],"based":[34],"on":[35],"tactile":[36],"sensing":[37],"overall":[41],"pouring":[42,111,117,131,141,144],"motion":[43,58,112,142],"including":[44],"all":[45],"required":[47],"abilities.":[48],"Using":[49],"we":[53,119],"generated":[54],"human-like":[56],"tipping":[57],"developed":[60],"grasping":[62],"strategy":[63],"prevent":[65],"slippage":[66],"robot's":[69],"fingertips":[70],"for":[71],"objects":[72],"whose":[73],"center":[74],"gravity":[76],"changes":[77],"while":[78,195],"pouring.":[79],"With":[80],"this":[81],"method,":[82],"uses":[85],"fingertip":[87],"forces":[88],"poured":[93,99,149,201],"independently":[94],"material":[97,202],"being":[98],"working":[102],"environment":[103],"robot.":[106],"By":[107],"using":[108],"tactile-based":[110,140],"rather":[113],"than":[114,207],"vision-based":[116],"motion,":[118],"expect":[120],"achieve":[124],"general-purpose,":[126],"robust,":[127],"highly":[129],"accurate":[130],"motion.":[132],"evaluated":[134],"usefulness":[136],"proposed":[139,183],"through":[143],"experiments":[145],"where":[146],"plastic":[154,173],"bottle":[155,174],"into":[156,175,192],"cup.":[158,177],"The":[159,178],"pours":[161],"three":[163],"types":[164],"materials":[166],"with":[167,203],"different":[168],"particle":[169],"sizes":[170],"results":[179],"showed":[180],"that":[181],"enabled":[185],"cup":[194],"estimating":[196],"mass":[198],"an":[204],"error":[205],"less":[206],"17":[208],"grams.":[209]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}