{"id":"https://openalex.org/W2793264449","doi":"https://doi.org/10.1109/tro.2018.2791591","title":"Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand","display_name":"Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand","publication_year":2018,"publication_date":"2018-02-19","ids":{"openalex":"https://openalex.org/W2793264449","doi":"https://doi.org/10.1109/tro.2018.2791591","mag":"2793264449","pmid":"https://pubmed.ncbi.nlm.nih.gov/38606005"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2791591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2791591","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11008496","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080936481","display_name":"Karl Van Wyk","orcid":"https://orcid.org/0000-0001-5535-949X"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Van Wyk","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD 20899 USA","National Institute of Standards and Technology, Gaithersburg, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-5535-949X","affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD 20899 USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083395735","display_name":"Mark Culleton","orcid":"https://orcid.org/0000-0002-5545-753X"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Mark Culleton","raw_affiliation_strings":["Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin 2, Ireland","Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin, Ireland"],"raw_orcid":"https://orcid.org/0000-0002-5545-753X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin 2, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056713022","display_name":"Joe Falco","orcid":"https://orcid.org/0000-0002-7794-5331"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joe Falco","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD 20899 USA","National Institute of Standards and Technology, Gaithersburg, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-7794-5331","affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD 20899 USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091691187","display_name":"Kevin Kelly","orcid":"https://orcid.org/0000-0003-2939-2274"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Kevin Kelly","raw_affiliation_strings":["Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin 2, Ireland","Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin, Ireland"],"raw_orcid":"https://orcid.org/0000-0003-2939-2274","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin 2, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1486,"has_fulltext":false,"cited_by_count":104,"citation_normalized_percentile":{"value":0.96891855,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"34","issue":"2","first_page":"542","last_page":"549"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.987500011920929,"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/benchmarking","display_name":"Benchmarking","score":0.7248483896255493},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6534737944602966},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6108092069625854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6024928689002991},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.570280134677887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5407623648643494},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5372728109359741},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5340007543563843},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5100679993629456},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4268098473548889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3913818597793579},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38704419136047363},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34735873341560364},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09665849804878235}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7248483896255493},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6534737944602966},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6108092069625854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6024928689002991},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.570280134677887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407623648643494},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5372728109359741},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5340007543563843},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5100679993629456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4268098473548889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3913818597793579},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38704419136047363},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34735873341560364},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09665849804878235},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"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":3,"locations":[{"id":"doi:10.1109/tro.2018.2791591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2791591","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"},{"id":"pmid:38606005","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38606005","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 robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11008496","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11008496","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11008496","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11008496","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W106210605","https://openalex.org/W621554864","https://openalex.org/W1530053935","https://openalex.org/W1607911472","https://openalex.org/W1938885652","https://openalex.org/W2025943982","https://openalex.org/W2073199141","https://openalex.org/W2078582099","https://openalex.org/W2084422095","https://openalex.org/W2084604427","https://openalex.org/W2101435663","https://openalex.org/W2143478412","https://openalex.org/W2151599587","https://openalex.org/W2165140387","https://openalex.org/W2194598979","https://openalex.org/W2216834210","https://openalex.org/W2237068932","https://openalex.org/W2295278273","https://openalex.org/W2318605853","https://openalex.org/W2322850265","https://openalex.org/W2396363971","https://openalex.org/W2521421794","https://openalex.org/W2570268714","https://openalex.org/W2737912442","https://openalex.org/W2781935341","https://openalex.org/W3099587965","https://openalex.org/W4247631462","https://openalex.org/W4285719527","https://openalex.org/W4302815966","https://openalex.org/W6636273950","https://openalex.org/W6650027032","https://openalex.org/W6697029480"],"related_works":["https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W2102971868","https://openalex.org/W2168487931","https://openalex.org/W2292082415","https://openalex.org/W4312362134","https://openalex.org/W4387962997","https://openalex.org/W2154563191","https://openalex.org/W2797370380","https://openalex.org/W2513546382"],"abstract_inverted_index":{"Force-based":[0],"manipulation":[1,16,36,76,170],"control":[2,148],"strategies":[3],"are":[4,47],"evolving":[5],"as":[6],"a":[7,52,61,73,79,114,187],"primary":[8],"mechanism":[9],"in":[10,34,139],"robotics":[11],"for":[12,66,87,103,168,192],"performing":[13,193],"the":[14,42,89,95,123,133,136,140,145,150,165],"fine":[15,35,169],"tasks":[17],"typical":[18],"within":[19],"manufacturing":[20],"assembly.":[21],"The":[22],"ability":[23],"to":[24],"systematically":[25],"compare":[26],"robotic":[27,80,104,175,183],"system":[28,126,138],"performance":[29,58,67,96],"and":[30,60,82,92,113,130,159,181],"quantify":[31],"true":[32],"advancement":[33],"is":[37],"of":[38,44,51,72,135,149],"utmost":[39],"importance.":[40],"Accordingly,":[41],"objectives":[43],"this":[45],"paper":[46],"threefold:":[48],"1)":[49],"creation":[50],"peg-in-hole":[53,90,142,194],"test":[54],"method":[55],"with":[56,178],"associated":[57],"metrics":[59],"systematic":[62],"data":[63],"analysis":[64],"strategy":[65],"benchmarking,":[68],"2)":[69],"first":[70],"demonstration":[71],"recently":[74],"developed":[75,141],"controller":[77],"piloting":[78],"hand":[81,125],"its":[83],"paired":[84],"task-level":[85],"logic":[86],"completing":[88],"test,":[91],"3)":[93],"exemplifying":[94],"benchmarking":[97],"technique":[98],"by":[99],"comparing":[100],"two":[101],"approaches":[102],"insertions-the":[105],"previously":[106],"mentioned":[107],"compliant":[108,117],"hand,":[109],"stiff":[110,115],"arm":[111,118],"system,":[112],"gripper,":[116],"system.":[119],"Analyses":[120],"reveal":[121],"that":[122,174],"unconventional":[124],"can":[127,185],"perform":[128],"at":[129],"sometimes":[131],"above":[132],"level":[134],"gripper":[137],"scenario.":[143],"Moreover,":[144],"hand's":[146],"active":[147],"peg's":[151],"full":[152],"Cartesian":[153],"pose":[154],"reduces":[155],"positional":[156],"error":[157],"sensitivity":[158],"minimizes":[160],"exerted":[161],"insertion":[162],"forces,":[163],"highlighting":[164],"strategy's":[166],"potential":[167],"tasks.":[171,195],"Results":[172],"indicate":[173],"arms":[176],"equipped":[177],"highly":[179],"articulated":[180],"sensorized":[182],"hands":[184],"provide":[186],"truly":[188],"realizable":[189],"solution":[190],"path":[191]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2018-03-29T00:00:00"}