{"id":"https://openalex.org/W4313306243","doi":"https://doi.org/10.1109/toh.2022.3232713","title":"Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands","display_name":"Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands","publication_year":2022,"publication_date":"2022-12-30","ids":{"openalex":"https://openalex.org/W4313306243","doi":"https://doi.org/10.1109/toh.2022.3232713","pmid":"https://pubmed.ncbi.nlm.nih.gov/37015658"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2022.3232713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2022.3232713","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/A5030031036","display_name":"Osher Azulay","orcid":"https://orcid.org/0000-0002-7188-9201"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Osher Azulay","raw_affiliation_strings":["School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel"],"raw_orcid":"https://orcid.org/0000-0002-7188-9201","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064808695","display_name":"Inbar Ben-David","orcid":null},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Inbar Ben-David","raw_affiliation_strings":["School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030565378","display_name":"Avishai Sintov","orcid":"https://orcid.org/0000-0002-3320-3897"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Avishai Sintov","raw_affiliation_strings":["School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel"],"raw_orcid":"https://orcid.org/0000-0002-3320-3897","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030031036"],"corresponding_institution_ids":["https://openalex.org/I16391192"],"apc_list":null,"apc_paid":null,"fwci":1.7011,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83894355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"16","issue":"1","first_page":"73","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9896000027656555,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9882000088691711,"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/underactuation","display_name":"Underactuation","score":0.906975507736206},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.7839961051940918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6938166618347168},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6540402173995972},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6471676230430603},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6381667256355286},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6362614631652832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6175817847251892},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.513458788394928},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47510015964508057},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41123050451278687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40352141857147217}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.906975507736206},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.7839961051940918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6938166618347168},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6540402173995972},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6471676230430603},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6381667256355286},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6362614631652832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6175817847251892},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.513458788394928},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47510015964508057},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41123050451278687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40352141857147217},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/toh.2022.3232713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2022.3232713","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:37015658","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37015658","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":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G403511413","display_name":null,"funder_award_id":"283-20","funder_id":"https://openalex.org/F4320325704","funder_display_name":"PAZY Foundation"}],"funders":[{"id":"https://openalex.org/F4320325704","display_name":"PAZY Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W2017611432","https://openalex.org/W2019165997","https://openalex.org/W2022430352","https://openalex.org/W2027701333","https://openalex.org/W2031835394","https://openalex.org/W2041437888","https://openalex.org/W2059772445","https://openalex.org/W2115975197","https://openalex.org/W2123062563","https://openalex.org/W2125328830","https://openalex.org/W2149286243","https://openalex.org/W2150457055","https://openalex.org/W2155337985","https://openalex.org/W2204882787","https://openalex.org/W2295747340","https://openalex.org/W2332184772","https://openalex.org/W2410091565","https://openalex.org/W2563720727","https://openalex.org/W2589847876","https://openalex.org/W2619378249","https://openalex.org/W2737912442","https://openalex.org/W2808191374","https://openalex.org/W2887302987","https://openalex.org/W2892294503","https://openalex.org/W2911386938","https://openalex.org/W2945402292","https://openalex.org/W2946757886","https://openalex.org/W2962688712","https://openalex.org/W2962872206","https://openalex.org/W2968095426","https://openalex.org/W3000872671","https://openalex.org/W3015462157","https://openalex.org/W3040887933","https://openalex.org/W3041222106","https://openalex.org/W3090445473","https://openalex.org/W3090952732","https://openalex.org/W3130801148","https://openalex.org/W3138826070","https://openalex.org/W3162887243","https://openalex.org/W3175270462","https://openalex.org/W3176397544","https://openalex.org/W3196588585","https://openalex.org/W3204982605","https://openalex.org/W3214378007","https://openalex.org/W4205742288","https://openalex.org/W4211049957","https://openalex.org/W4212861043","https://openalex.org/W4281887079","https://openalex.org/W6640177214","https://openalex.org/W6745670001"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W3111440524","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Unlike":[0],"traditional":[1],"robotic":[2],"hands,":[3],"underactuated":[4,68,139],"compliant":[5],"hands":[6],"are":[7],"challenging":[8],"to":[9,12,50,158,178,181,199,214],"model":[10],"due":[11],"inherent":[13],"uncertainties.":[14],"Consequently,":[15],"pose":[16,62,176],"estimation":[17,63,177],"of":[18,32,54,93,148,161,193,202],"a":[19,116,137,142,167,191],"grasped":[20],"object":[21,36],"is":[22,79,122],"usually":[23],"performed":[24],"based":[25,185],"on":[26,87,186],"visual":[27,30],"perception.":[28],"However,":[29],"perception":[31],"the":[33,52,89,94,128,146,159,162,175,197,217],"hand":[34,140],"and":[35,58,64,101,107,118,130,150,209,211],"can":[37,102,131],"be":[38,103],"limited":[39],"in":[40,216],"occluded":[41,75],"or":[42],"partly-occluded":[43],"environments.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48,114,144,165],"aim":[49],"explore":[51],"use":[53],"haptics,":[55],"i.e.,":[56],"kinesthetic":[57,149],"tactile":[59,111,151],"sensing,":[60,112],"for":[61],"in-hand":[65],"manipulation":[66,213],"with":[67,105,127,154,205,219],"hands.":[69],"Such":[70],"haptic":[71],"approach":[72,172],"would":[73],"mitigate":[74],"environments":[76],"where":[77],"line-of-sight":[78],"not":[80,98],"always":[81],"available.":[82],"We":[83,188],"put":[84],"an":[85],"emphasis":[86],"identifying":[88],"feature":[90],"state":[91],"representation":[92],"system":[95],"that":[96,121,195],"does":[97],"include":[99],"vision":[100],"obtained":[104],"simple":[106],"low-cost":[108,117],"hardware.":[109],"For":[110],"therefore,":[113],"propose":[115,166],"flexible":[119],"sensor":[120],"mostly":[123],"3D":[124],"printed":[125],"along":[126,153],"finger-tip":[129],"provide":[132],"implicit":[133],"contact":[134],"information.":[135],"Taking":[136],"two-finger":[138],"as":[141],"test-case,":[143],"analyze":[145],"contribution":[147],"features":[152],"various":[155,203],"regression":[156],"models":[157],"accuracy":[160],"predictions.":[163],"Furthermore,":[164],"Model":[168],"Predictive":[169],"Control":[170],"(MPC)":[171],"which":[173],"utilizes":[174],"manipulate":[179],"objects":[180,204],"desired":[182],"positions":[183],"solely":[184],"haptics.":[187],"have":[189],"conducted":[190],"series":[192],"experiments":[194],"validate":[196],"ability":[198],"estimate":[200],"poses":[201],"different":[206],"geometry,":[207],"stiffness":[208],"texture,":[210],"show":[212],"goals":[215],"workspace":[218],"relatively":[220],"high":[221],"accuracy.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}