{"id":"https://openalex.org/W2057299504","doi":"https://doi.org/10.1109/tro.2011.2162271","title":"Human-Inspired Robotic Grasp Control With Tactile Sensing","display_name":"Human-Inspired Robotic Grasp Control With Tactile Sensing","publication_year":2011,"publication_date":"2011-08-15","ids":{"openalex":"https://openalex.org/W2057299504","doi":"https://doi.org/10.1109/tro.2011.2162271","mag":"2057299504"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2162271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2162271","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-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/A5086053479","display_name":"Joseph M. Romano","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph M. Romano","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113779255","display_name":"Kaijen Hsiao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaijen Hsiao","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110098445","display_name":"G\u00fcnter Niemeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G\u00fcnter Niemeyer","raw_affiliation_strings":["Stanford University, Stanford, CA, USA","Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Chitta","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":36.4473,"has_fulltext":false,"cited_by_count":412,"citation_normalized_percentile":{"value":0.99797448,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"27","issue":"6","first_page":"1067","last_page":"1079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9973999857902527,"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/grasp","display_name":"GRASP","score":0.9444364309310913},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7467082738876343},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6076565384864807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5666199922561646},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5465790629386902},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5340902209281921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5305177569389343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260633826255798},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.48535504937171936},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4603438675403595},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4411909580230713},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43565064668655396},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42991453409194946},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38367557525634766},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.348497211933136}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9444364309310913},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7467082738876343},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6076565384864807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5666199922561646},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5465790629386902},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5340902209281921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5305177569389343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260633826255798},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.48535504937171936},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4603438675403595},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4411909580230713},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43565064668655396},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42991453409194946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38367557525634766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.348497211933136},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2162271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2162271","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W48639790","https://openalex.org/W131845143","https://openalex.org/W1560270123","https://openalex.org/W1774657277","https://openalex.org/W1983555738","https://openalex.org/W1985428381","https://openalex.org/W2009714304","https://openalex.org/W2015312730","https://openalex.org/W2029979841","https://openalex.org/W2031763660","https://openalex.org/W2041376653","https://openalex.org/W2074936002","https://openalex.org/W2092511662","https://openalex.org/W2112645080","https://openalex.org/W2115933504","https://openalex.org/W2118436564","https://openalex.org/W2122220338","https://openalex.org/W2128037885","https://openalex.org/W2131806392","https://openalex.org/W2134918146","https://openalex.org/W2145083468","https://openalex.org/W2156102255","https://openalex.org/W2164474021","https://openalex.org/W2168181402","https://openalex.org/W2792324507","https://openalex.org/W2942233297","https://openalex.org/W6602006779","https://openalex.org/W6605399705","https://openalex.org/W6762064835"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W3133406196","https://openalex.org/W2538962492","https://openalex.org/W4210583734","https://openalex.org/W2544373263","https://openalex.org/W2186522934","https://openalex.org/W2166446064","https://openalex.org/W2968390578"],"abstract_inverted_index":{"We":[0,153],"present":[1],"a":[2,9,24,171],"novel":[3],"robotic":[4,76,165],"grasp":[5,25,108,138,168],"controller":[6,59,120],"that":[7,38,79,98],"allows":[8],"sensorized":[10],"parallel":[11],"jaw":[12],"gripper":[13],"to":[14,47,74,82,145,149],"gently":[15],"pick":[16],"up":[17],"and":[18,68,87,113,117,142],"set":[19,150],"down":[20],"unknown":[21],"objects":[22],"once":[23],"location":[26],"has":[27],"been":[28],"selected.":[29],"Our":[30,58],"approach":[31,159],"is":[32,45,131],"inspired":[33],"by":[34],"the":[35,63,100,107,134,137,155,163],"control":[36],"scheme":[37],"humans":[39],"employ":[40],"for":[41],"such":[42],"actions,":[43],"which":[44],"known":[46],"centrally":[48],"depend":[49],"on":[50,162,170],"tactile":[51,77,95],"sensation":[52],"rather":[53],"than":[54],"vision":[55],"or":[56],"proprioception.":[57],"processes":[60],"measurements":[61],"from":[62,133],"gripper's":[64],"fingertip":[65],"pressure":[66],"arrays":[67],"hand-mounted":[69],"accelerometer":[70],"in":[71,106],"real":[72],"time":[73],"generate":[75],"signals":[78,91],"are":[80,92],"designed":[81],"mimic":[83],"human":[84],"SA-I,":[85],"FA-I,":[86],"FA-II":[88],"channels.":[89],"These":[90],"combined":[93],"into":[94],"event":[96],"cues":[97],"drive":[99],"transitions":[101],"between":[102],"six":[103],"discrete":[104],"states":[105],"controller:":[109],"Close,":[110],"Load,":[111],"Lift":[112],"Hold,":[114],"Replace,":[115],"Unload,":[116],"Open.":[118],"The":[119],"selects":[121],"an":[122,129,147],"appropriate":[123],"initial":[124],"grasping":[125],"force,":[126],"detects":[127],"when":[128,144],"object":[130,148],"slipping":[132],"grasp,":[135],"increases":[136],"force":[139],"as":[140],"needed,":[141],"judges":[143],"release":[146],"it":[151],"down.":[152],"demonstrate":[154],"promise":[156],"of":[157,174],"our":[158],"through":[160],"implementation":[161],"PR2":[164],"platform,":[166],"including":[167],"testing":[169],"large":[172],"number":[173],"real-world":[175],"objects.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":39},{"year":2019,"cited_by_count":37},{"year":2018,"cited_by_count":29},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":32},{"year":2015,"cited_by_count":36},{"year":2014,"cited_by_count":24},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":16}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}