{"id":"https://openalex.org/W7131856019","doi":"https://doi.org/10.1109/sii64115.2026.11404608","title":"State Estimation of a Shape-flexible Multi-fingered Robotic Hand Leveraging Multiple Proximity Sensors Measuring an Ambient Environment including the Self-body and a Constant Curvature Model","display_name":"State Estimation of a Shape-flexible Multi-fingered Robotic Hand Leveraging Multiple Proximity Sensors Measuring an Ambient Environment including the Self-body and a Constant Curvature Model","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131856019","doi":"https://doi.org/10.1109/sii64115.2026.11404608"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 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/A5127216202","display_name":"Masato Morita","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masato Morita","raw_affiliation_strings":["Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061020240","display_name":"Hikaru Arita","orcid":"https://orcid.org/0000-0003-4953-2553"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Arita","raw_affiliation_strings":["Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101736518","display_name":"Kazuto Nakashima","orcid":"https://orcid.org/0000-0002-6773-7811"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuto Nakashima","raw_affiliation_strings":["Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.25746866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"685","last_page":"690"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.29580000042915344,"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":0.29580000042915344,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.22470000386238098,"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/T10868","display_name":"Soft Robotics and Applications","score":0.1477999985218048,"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/observability","display_name":"Observability","score":0.6187000274658203},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5906000137329102},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5497000217437744},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5192000269889832},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5105999708175659},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.45879998803138733},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.41530001163482666},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.40400001406669617}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6187000274658203},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5906000137329102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5687000155448914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5519999861717224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5497000217437744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5472999811172485},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5192000269889832},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5105999708175659},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.45879998803138733},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.41530001163482666},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.40400001406669617},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C2984536560","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State estimator","level":3,"score":0.3813999891281128},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29760000109672546},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2727000117301941},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26660001277923584},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 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/13","display_name":"Climate action","score":0.4162428081035614}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2101667962","https://openalex.org/W3133648073","https://openalex.org/W4210423514","https://openalex.org/W4210499279","https://openalex.org/W4312065141","https://openalex.org/W4388543973","https://openalex.org/W4389317824","https://openalex.org/W4390428998","https://openalex.org/W4404462437","https://openalex.org/W4407168290","https://openalex.org/W4407404218","https://openalex.org/W4410027456"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"state":[3,194],"estimation":[4,15,141,195],"for":[5,196],"continuum":[6,197],"robotic":[7],"fingers":[8,47,105,198],"during":[9],"in-hand":[10,99,190,205],"manipulation,":[11],"where":[12],"accurate":[13],"pose":[14,38],"relative":[16],"to":[17,96,113],"the":[18,36,64,90,103,107,131,138,179],"environment":[19],"is":[20,95],"required":[21],"in":[22,116,199],"feature-sparse":[23,200],"scenes.":[24],"To":[25],"address":[26],"this":[27],"requirement,":[28],"we":[29],"adopt":[30],"a":[31,40,68,77,147,154,174],"SLAM-based":[32,69],"formulation":[33],"that":[34,59,71,167,188],"estimates":[35],"robot":[37],"and":[39,106,126,129,135,161,173],"local":[41],"map":[42,163],"from":[43,89],"exteroceptive":[44,73],"sensing.":[45],"Continuum":[46],"lack":[48],"encoder-based":[49],"joint":[50,87],"angle":[51],"measurements,":[52],"while":[53],"conventional":[54],"SLAM":[55],"assumes":[56],"feature-rich":[57],"environments":[58],"are":[60],"rarely":[61],"available":[62],"inside":[63],"hand.":[65],"We":[66,119,165],"propose":[67],"estimator":[70,145],"fuses":[72],"proximity":[74],"sensing":[75],"with":[76,85],"constant-curvature":[78],"kinematic":[79],"prior":[80],"by":[81,150],"replacing":[82],"encoder":[83],"angles":[84,88],"virtual":[86],"model.":[91],"The":[92,143],"key":[93],"idea":[94],"leverage":[97],"designed":[98,189],"self-body":[100],"elements,":[101],"namely":[102],"opposing":[104],"palm,":[108],"as":[109],"stable":[110],"reference":[111],"geometry":[112,191],"maintain":[114],"observability":[115],"feature-spares":[117],"environments.":[118],"evaluate":[120],"our":[121],"method":[122],"through":[123],"free":[124],"motion":[125],"grasping":[127,201],"simulations,":[128],"analyze":[130],"effect":[132],"of":[133,137,157],"presence":[134],"shape":[136],"palm":[139,177],"on":[140],"accuracy.":[142],"proposed":[144],"outperforms":[146],"kinematics-only":[148],"baseline":[149],"suppressing":[151],"bias,":[152],"reducing":[153],"position":[155],"error":[156],"an":[158],"end":[159],"effector,":[160],"improving":[162],"quality.":[164],"demonstrate":[166],"three-dimensional":[168],"contoured":[169],"palms":[170],"enhance":[171],"observability,":[172],"composite":[175],"wavy":[176],"yields":[178],"smallest":[180],"errors":[181],"without":[182],"temporal":[183],"drift.":[184],"These":[185],"results":[186],"indicate":[187],"enables":[192],"effective":[193],"scenarios,":[202],"supporting":[203],"reliable":[204],"manipulation.":[206]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-28T00:00:00"}
