{"id":"https://openalex.org/W4407404734","doi":"https://doi.org/10.1109/sii59315.2025.10870903","title":"Pre-touch Deformation Estimation of Soft Robotic Gripper based on Camera Image","display_name":"Pre-touch Deformation Estimation of Soft Robotic Gripper based on Camera Image","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407404734","doi":"https://doi.org/10.1109/sii59315.2025.10870903"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10870903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870903","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5066718629","display_name":"Ryogo Kai","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryogo Kai","raw_affiliation_strings":["Chuo University,The Precision Engineering Course, Graduate School of Science and Engineering,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chuo University,The Precision Engineering Course, Graduate School of Science and Engineering,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056931983","display_name":"Yuzuka Isobe","orcid":"https://orcid.org/0000-0001-6725-912X"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuzuka Isobe","raw_affiliation_strings":["Chuo University,The Precision Engineering Course, Graduate School of Science and Engineering,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chuo University,The Precision Engineering Course, Graduate School of Science and Engineering,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045114877","display_name":"Sarthak Pathak","orcid":"https://orcid.org/0000-0002-5271-1782"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sarthak Pathak","raw_affiliation_strings":["Chuo University,Faculty of Science and Engineering,The Department of Precision Mechanics,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chuo University,Faculty of Science and Engineering,The Department of Precision Mechanics,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083854260","display_name":"Kazunori Umeda","orcid":"https://orcid.org/0000-0002-4458-4648"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Umeda","raw_affiliation_strings":["Chuo University,Faculty of Science and Engineering,The Department of Precision Mechanics,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chuo University,Faculty of Science and Engineering,The Department of Precision Mechanics,Kasuga, Bunkyo-ku, Tokyo,Japan,1-13-27","institution_ids":["https://openalex.org/I96679780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066718629"],"corresponding_institution_ids":["https://openalex.org/I96679780"],"apc_list":null,"apc_paid":null,"fwci":1.1339,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.74585495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1392","last_page":"1399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9857000112533569,"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":0.9857000112533569,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9732999801635742,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9276000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7439286708831787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6920098066329956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6211534142494202},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.6033990383148193},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5184471011161804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47200465202331543},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4436705708503723},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.35345348715782166},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.10911029577255249}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7439286708831787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6920098066329956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6211534142494202},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.6033990383148193},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5184471011161804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47200465202331543},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4436705708503723},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.35345348715782166},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.10911029577255249},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10870903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870903","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2051891405","https://openalex.org/W2101667962","https://openalex.org/W2566734852","https://openalex.org/W2736878617","https://openalex.org/W2784648116","https://openalex.org/W2789805345","https://openalex.org/W2910733688","https://openalex.org/W3007866085","https://openalex.org/W3094593605","https://openalex.org/W3095748503","https://openalex.org/W3097647583","https://openalex.org/W3148337244","https://openalex.org/W4200184890","https://openalex.org/W4312985843","https://openalex.org/W4376605701","https://openalex.org/W4383108392","https://openalex.org/W4386637233","https://openalex.org/W4389665486"],"related_works":["https://openalex.org/W2015878442","https://openalex.org/W2955261040","https://openalex.org/W8302103","https://openalex.org/W2783518503","https://openalex.org/W3094251759","https://openalex.org/W3171631314","https://openalex.org/W4380077086","https://openalex.org/W2674584172","https://openalex.org/W2911666782","https://openalex.org/W2967743314"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,55,180,194],"grippers":[2,77,90],"are":[3,292],"highly":[4],"adaptable":[5],"to":[6,23,40,144,152,170,197,278,323,335],"various":[7],"objects":[8],"because":[9],"they":[10],"can":[11,125,227],"deform":[12,126,228],"and":[13,81,111,118,127,146,157,261,290,315,327,338],"fit":[14],"object":[15,87,158,291,339],"shapes.":[16],"However,":[17],"grasping":[18,30,43,62,85,198],"stability":[19,83],"may":[20],"change":[21,150],"owing":[22],"the":[24,27,42,46,61,82,98,102,106,112,116,123,130,136,147,153,176,189,207,213,216,221,225,236,254,258,269,273,280,284,288,302,305,312,325,330],"posture":[25,44,63],"of":[26,84,97,105,175,178,191,235,242,246,257,272,304,329],"gripper":[28,65,99,107,117,124,131,143,155,195,208,226,237,275,289,307,336],"while":[29],"an":[31,57,86,161,199,210,267,299],"object.":[32,137,200,211],"For":[33],"a":[34,172,184,192,240,243,251],"stable":[35],"grasp,":[36,47],"it":[37],"is":[38,64,132,168,204,229,276,308],"necessary":[39],"estimate":[41],"before":[45,206],"namely":[48],"pre-touch":[49,70,173],"estimation.":[50],"In":[51,67,212],"particular,":[52],"for":[53,75,187],"soft":[54,89,179,193],"grippers,":[56],"important":[58],"factor":[59],"in":[60,133,223],"deformation.":[66],"previous":[68],"studies,":[69],"estimation":[71,162,174],"was":[72,91],"researched":[73],"only":[74],"rigid":[76,247],"without":[78],"considering":[79],"deformation,":[80],"using":[88,231,266],"evaluated":[92],"after":[93],"grasping.":[94],"The":[95,201],"deformation":[96,108,177,190,217,281,303,313],"depends":[100],"on":[101,129,239,311],"intrinsic":[103],"characteristics":[104,139],"(e.g.,":[109],"stiffness)":[110],"contact":[113,134,148,285,317],"positions":[114,149],"between":[115,287],"object,":[119],"that":[120,164,219],"is,":[121],"how":[122],"where":[128],"with":[135,250,333],"Deformation":[138],"vary":[140],"from":[141,298],"one":[142],"another,":[145],"according":[151],"characteristics,":[154],"location,":[156],"shape.":[159,340],"Thus,":[160],"method":[163,186,203,332],"considers":[165],"these":[166],"conditions":[167],"required":[169],"achieve":[171],"grippers.This":[181],"study":[182],"presents":[183],"vision-based":[185],"estimating":[188],"prior":[196],"entire":[202,259,274,306],"performed":[205],"grasps":[209],"first":[214],"process,":[215],"model":[218,241,314],"shows":[220],"manner":[222],"which":[224],"defined":[230],"three":[232],"approaches:":[233],"discretization":[234],"based":[238,310],"serial":[244],"chain":[245],"bodies":[248],"connected":[249],"spring":[252],"joint,":[253],"bending":[255,270],"angle":[256,271],"gripper,":[260],"piecewise":[262],"constant":[263],"curvature.":[264],"Next,":[265],"image,":[268],"acquired":[277],"calibrate":[279],"model.":[282],"Subsequently,":[283],"points":[286],"predicted":[293,316],"by":[294],"obtaining":[295],"their":[296],"contours":[297],"image.":[300],"Finally,":[301],"estimated":[309],"points.":[318],"Three":[319],"experiments":[320],"were":[321],"conducted":[322],"evaluate":[324],"accuracy":[326],"versatility":[328],"proposed":[331],"respect":[334],"location":[337]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
