{"id":"https://openalex.org/W2803104652","doi":"https://doi.org/10.1109/toh.2018.2837744","title":"Grip Stabilization of Novel Objects Using Slip Prediction","display_name":"Grip Stabilization of Novel Objects Using Slip Prediction","publication_year":2018,"publication_date":"2018-05-21","ids":{"openalex":"https://openalex.org/W2803104652","doi":"https://doi.org/10.1109/toh.2018.2837744","mag":"2803104652","pmid":"https://pubmed.ncbi.nlm.nih.gov/29994541"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2018.2837744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2018.2837744","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Transactions on Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5013781797","display_name":"Filipe Veiga","orcid":"https://orcid.org/0000-0002-0889-0242"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Filipe Veiga","raw_affiliation_strings":["FG Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"FG Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["FG Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, Darmstadt, 64289, Germany"],"affiliations":[{"raw_affiliation_string":"FG Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, Darmstadt, 64289, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000432183","display_name":"Tucker Hermans","orcid":"https://orcid.org/0000-0003-2496-2768"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Hermans","raw_affiliation_strings":["School of Computing, University of Utah, Salt Lake City, UT"],"affiliations":[{"raw_affiliation_string":"School of Computing, University of Utah, Salt Lake City, UT","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013781797"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":6.7406,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.97229483,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"11","issue":"4","first_page":"531","last_page":"542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9955999851226807,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9758999943733215,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.8382099866867065},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7960420846939087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6252017021179199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5644961595535278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5401368141174316},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4427539110183716},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42620405554771423},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41343623399734497},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35224902629852295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33930835127830505},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24588394165039062}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.8382099866867065},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7960420846939087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6252017021179199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5644961595535278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5401368141174316},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4427539110183716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42620405554771423},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41343623399734497},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35224902629852295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33930835127830505},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24588394165039062},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000069553","descriptor_name":"Supervised Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069553","descriptor_name":"Supervised Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069553","descriptor_name":"Supervised Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/toh.2018.2837744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2018.2837744","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Transactions on Haptics","raw_type":"journal-article"},{"id":"pmid:29994541","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29994541","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null},{"id":"pmh:oai:pure.mpg.de:item_3049406","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0003-75F5-5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7873022273","display_name":null,"funder_award_id":"610967 (TACMAN)","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W278712781","https://openalex.org/W1024319585","https://openalex.org/W1417782584","https://openalex.org/W1820657498","https://openalex.org/W1859354494","https://openalex.org/W1983156320","https://openalex.org/W2021473074","https://openalex.org/W2026499961","https://openalex.org/W2030174401","https://openalex.org/W2036637075","https://openalex.org/W2042599225","https://openalex.org/W2044761295","https://openalex.org/W2048432791","https://openalex.org/W2053494425","https://openalex.org/W2057299504","https://openalex.org/W2060099151","https://openalex.org/W2074936002","https://openalex.org/W2080250879","https://openalex.org/W2090989197","https://openalex.org/W2094695420","https://openalex.org/W2101234009","https://openalex.org/W2107947143","https://openalex.org/W2115669646","https://openalex.org/W2117366362","https://openalex.org/W2118322086","https://openalex.org/W2122700388","https://openalex.org/W2125790828","https://openalex.org/W2127067435","https://openalex.org/W2137662760","https://openalex.org/W2139212933","https://openalex.org/W2142682608","https://openalex.org/W2165341727","https://openalex.org/W2169222114","https://openalex.org/W2199073508","https://openalex.org/W2416743726","https://openalex.org/W2533840519","https://openalex.org/W2560315235","https://openalex.org/W2743209907","https://openalex.org/W3104208381","https://openalex.org/W3112422759","https://openalex.org/W4247128285","https://openalex.org/W4285719527","https://openalex.org/W4293171766","https://openalex.org/W6628311805","https://openalex.org/W6675354045","https://openalex.org/W6728525310"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1489808091","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W1578656222","https://openalex.org/W2906198815","https://openalex.org/W2677968565","https://openalex.org/W4287255890"],"abstract_inverted_index":{"Controlling":[0],"contact":[1,32,64,106],"with":[2,22],"arbitrary,":[3],"unknown":[4,190],"objects":[5,42,81,137,191],"defines":[6],"a":[7,23,75,111,127,164,174],"fundamental":[8],"problem":[9,113],"for":[10,40,79],"robotic":[11,166],"grasping":[12],"and":[13,93,103,151],"in-hand":[14],"manipulation.":[15],"In":[16,70],"real-world":[17],"scenarios,":[18],"where":[19],"robots":[20],"interact":[21],"variety":[24],"of":[25,30,36,43,59,101,119],"objects,":[26,135],"the":[27,37,57,99,105,116,161],"sheer":[28],"number":[29],"possible":[31],"interactions":[33,65],"prohibits":[34],"acquisition":[35],"necessary":[38],"models":[39],"all":[41],"interest.":[44],"As":[45],"an":[46,179],"alternative":[47],"to":[48,114],"traditional":[49],"control":[50],"approaches":[51],"that":[52,170,184],"require":[53],"accurate":[54],"models,":[55],"predicting":[56],"onset":[58],"slip":[60,84,102,120,131,147,194],"can":[61,185],"enable":[62],"controlling":[63],"without":[66],"explicit":[67],"model":[68],"knowledge.":[69],"this":[71],"article,":[72],"we":[73,168],"propose":[74],"grip":[76,181],"stabilization":[77,182],"approach":[78,97],"novel":[80],"based":[82],"on":[83,163],"prediction.":[85],"Using":[86],"tactile":[87,123,153],"information,":[88],"such":[89],"as":[90],"applied":[91],"pressure":[92],"fingertip":[94],"deformation,":[95],"our":[96],"predicts":[98],"emergence":[100],"modulates":[104],"forces":[107],"accordingly.":[108],"We":[109,141],"formulate":[110],"supervised-learning":[112],"predict":[115],"future":[117],"occurrence":[118],"from":[121],"high-dimensional":[122],"information":[124,154],"provided":[125],"by":[126,192],"BioTac":[128],"sensor.":[129],"This":[130],"mapping":[132],"generalizes":[133],"across":[134],"including":[136],"absent":[138],"during":[139],"training.":[140],"evaluate":[142],"how":[143],"different":[144],"input":[145],"features,":[146],"prediction":[148,157,172],"time":[149],"horizons,":[150],"available":[152],"channels,":[155],"impact":[156],"accuracy.":[158],"By":[159],"mounting":[160],"sensor":[162],"PA-10":[165],"arm,":[167],"show":[169],"employing":[171],"in":[173],"controller's":[175],"feedback":[176],"loop":[177],"yields":[178],"object":[180],"controller":[183],"successfully":[186],"stabilize":[187],"multiple,":[188],"previously":[189],"counteracting":[193],"events.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}