{"id":"https://openalex.org/W4289792384","doi":"https://doi.org/10.1109/toh.2022.3196625","title":"Configuration-Based Optimization for Virtual Hand Haptic Simulation","display_name":"Configuration-Based Optimization for Virtual Hand Haptic Simulation","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4289792384","doi":"https://doi.org/10.1109/toh.2022.3196625","pmid":"https://pubmed.ncbi.nlm.nih.gov/35925846"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2022.3196625","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2022.3196625","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9904514/09849854.pdf","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":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/4543165/9904514/09849854.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104636147","display_name":"Qianqian Tong","orcid":"https://orcid.org/0000-0003-1617-012X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianqian Tong","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Department of Mathematics and Theories, Peng Cheng Laboratory, Shenzhen, Guangdong Province, China"],"raw_orcid":"https://orcid.org/0000-0003-1617-012X","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Department of Mathematics and Theories, Peng Cheng Laboratory, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100417373","display_name":"Qiong Wang","orcid":"https://orcid.org/0000-0002-0835-3770"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiong Wang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0835-3770","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015482478","display_name":"Yingkui Zhang","orcid":"https://orcid.org/0000-0001-8288-2649"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingkui Zhang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8288-2649","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017155873","display_name":"Xiangyun Liao","orcid":"https://orcid.org/0000-0002-1682-3939"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyun Liao","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1682-3939","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100984040","display_name":"Wenxuan Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxuan Wei","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471324","display_name":"Yuru Zhang","orcid":"https://orcid.org/0000-0003-2054-2483"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuru Zhang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2054-2483","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070173803","display_name":"Jing Xiao","orcid":"https://orcid.org/0000-0002-5242-7909"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Xiao","raw_affiliation_strings":["Department of Robotics Engineering and Department of Computer Science, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering and Department of Computer Science, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007295700","display_name":"Dangxiao Wang","orcid":"https://orcid.org/0000-0002-3178-6494"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dangxiao Wang","raw_affiliation_strings":["Department of Mathematics and Theories, Peng Cheng Laboratory, Shenzhen, Guangdong Province, China","State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3178-6494","affiliations":[{"raw_affiliation_string":"Department of Mathematics and Theories, Peng Cheng Laboratory, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems and Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6966,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64153927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"15","issue":"3","first_page":"613","last_page":"625"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9951000213623047,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944000244140625,"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/haptic-technology","display_name":"Haptic technology","score":0.7071059346199036},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6674474477767944},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6294650435447693},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5347603559494019},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.508794367313385},{"id":"https://openalex.org/keywords/stereotaxy","display_name":"Stereotaxy","score":0.4363923966884613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42555370926856995},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38597187399864197},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3604031205177307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11541014909744263}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7071059346199036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6674474477767944},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6294650435447693},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5347603559494019},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.508794367313385},{"id":"https://openalex.org/C176700471","wikidata":"https://www.wikidata.org/wiki/Q7611272","display_name":"Stereotaxy","level":3,"score":0.4363923966884613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42555370926856995},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38597187399864197},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3604031205177307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11541014909744263},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/toh.2022.3196625","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2022.3196625","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9904514/09849854.pdf","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:35925846","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35925846","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}],"best_oa_location":{"id":"doi:10.1109/toh.2022.3196625","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2022.3196625","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9904514/09849854.pdf","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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2032322818","display_name":null,"funder_award_id":"62002185","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G326316610","display_name":null,"funder_award_id":"2019M663018","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6940798738","display_name":null,"funder_award_id":"61973016","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321125","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4289792384.pdf","grobid_xml":"https://content.openalex.org/works/W4289792384.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1531634634","https://openalex.org/W1947717016","https://openalex.org/W2039256495","https://openalex.org/W2069476964","https://openalex.org/W2073521456","https://openalex.org/W2078221124","https://openalex.org/W2089011127","https://openalex.org/W2092998629","https://openalex.org/W2103389792","https://openalex.org/W2107207454","https://openalex.org/W2107281367","https://openalex.org/W2113091440","https://openalex.org/W2115678723","https://openalex.org/W2128148138","https://openalex.org/W2133233709","https://openalex.org/W2139060137","https://openalex.org/W2144415816","https://openalex.org/W2149522486","https://openalex.org/W2152715074","https://openalex.org/W2157805404","https://openalex.org/W2160012536","https://openalex.org/W2171504648","https://openalex.org/W2397519240","https://openalex.org/W2539071669","https://openalex.org/W2553135278","https://openalex.org/W2889016010","https://openalex.org/W2966650904","https://openalex.org/W2967696401","https://openalex.org/W3000234457","https://openalex.org/W3145135604","https://openalex.org/W4210521771","https://openalex.org/W4236440330","https://openalex.org/W4299361842","https://openalex.org/W4301014524","https://openalex.org/W6606534626","https://openalex.org/W6674952109","https://openalex.org/W6686566115"],"related_works":["https://openalex.org/W3175380930","https://openalex.org/W2183424744","https://openalex.org/W4309505616","https://openalex.org/W2136086106","https://openalex.org/W2183808292","https://openalex.org/W2069386304","https://openalex.org/W2329432189","https://openalex.org/W2492481707","https://openalex.org/W2413398266","https://openalex.org/W2348224808"],"abstract_inverted_index":{"Interacting":[0],"with":[1,41,173],"virtual":[2,25,37,95],"objects":[3,144],"via":[4],"haptic":[5,14,39,163],"feedback":[6],"using":[7],"the":[8,24,55,61,67,70,115,139,162,170],"user's":[9],"hand":[10,13,38,96,141],"directly":[11],"(virtual":[12],"interaction)":[15],"provides":[16],"a":[17,29,76,83,94,99,109,132],"natural":[18],"and":[19,64,73,87,102,107,129,142,152],"immersive":[20],"way":[21],"to":[22,32,113],"explore":[23],"world.":[26],"It":[27],"remains":[28],"challenging":[30],"topic":[31],"achieve":[33],"1":[34,167],"kHz":[35,168],"stable":[36],"simulation":[40,164],"no":[42],"penetration":[43],"amid":[44],"hundreds":[45],"of":[46,59,69,98,134,161],"hand-object":[47,89],"contacts.":[48,176],"In":[49],"this":[50],"paper,":[51],"we":[52],"advocate":[53],"decoupling":[54],"high-dimensional":[56],"optimization":[57,78,111],"problem":[58],"computing":[60],"graphic-hand":[62,116],"configuration,":[63],"progressively":[65],"optimizing":[66],"configuration":[68,117],"graphic":[71,140],"palm":[72],"fingers,":[74],"yielding":[75],"decoupled-and-progressive":[77],"framework.":[79],"We":[80],"also":[81],"introduce":[82],"method":[84],"for":[85,131,154,169],"accurate":[86],"efficient":[88],"contact":[90,120,150,156],"simulation,":[91],"which":[92],"constructs":[93],"consisting":[97],"sphere-tree":[100],"model":[101],"five":[103],"articulated":[104],"cone":[105],"frustums,":[106],"adopts":[108],"configuration-based":[110],"algorithm":[112],"compute":[114],"under":[118,148],"non-penetration":[119],"constraints.":[121],"Experimental":[122],"results":[123],"show":[124],"both":[125],"high":[126],"update":[127,159],"rate":[128,160],"stability":[130],"variety":[133],"manipulation":[135],"behaviors.":[136],"Non-penetration":[137],"between":[138],"complex-shaped":[143],"can":[145],"be":[146],"maintained":[147],"diverse":[149],"distributions,":[151],"even":[153],"frequent":[155],"switches.":[157],"The":[158],"loop":[165],"exceeds":[166],"whole-hand":[171],"interaction":[172],"about":[174],"250":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
