{"id":"https://openalex.org/W4402592652","doi":"https://doi.org/10.1109/tro.2024.3463402","title":"Single-Grasp Deformable Object Discrimination: The Effect of Gripper Morphology, Sensing Modalities, and Action Parameters","display_name":"Single-Grasp Deformable Object Discrimination: The Effect of Gripper Morphology, Sensing Modalities, and Action Parameters","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402592652","doi":"https://doi.org/10.1109/tro.2024.3463402"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3463402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3463402","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5098821213","display_name":"Michal Pliska","orcid":"https://orcid.org/0009-0006-7205-0455"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michal Pliska","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0009-0006-7205-0455","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003763171","display_name":"Shubhan P. Patni","orcid":"https://orcid.org/0000-0002-1457-7404"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Shubhan Patni","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0002-1457-7404","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064193244","display_name":"Michal Mares","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michal Mare\u0161","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0009-0003-7002-274X","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078129204","display_name":"Pavel Stoudek","orcid":"https://orcid.org/0000-0001-9727-9113"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Pavel Stoudek","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0001-9727-9113","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004325967","display_name":"Zden\u011bk Straka","orcid":"https://orcid.org/0000-0002-2788-1667"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Zdenek Straka","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065125599","display_name":"Karla \u0160t\u011bp\u00e1nov\u00e1","orcid":"https://orcid.org/0000-0003-4239-2092"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Karla Stepanova","raw_affiliation_strings":["Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Praha, Czechia","Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0003-4239-2092","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031321219","display_name":"Matej Hoffmann","orcid":"https://orcid.org/0000-0001-8137-3412"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Matej Hoffmann","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0001-8137-3412","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Praha, Czechia","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.8523,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.739715,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"40","issue":null,"first_page":"4414","last_page":"4426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9828000068664551,"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":0.9811000227928162,"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":0.7893081903457642},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6971647143363953},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6647722125053406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6467047333717346},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.5700658559799194},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5683753490447998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5550598502159119},{"id":"https://openalex.org/keywords/morphology","display_name":"Morphology (biology)","score":0.49431324005126953},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.49097445607185364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2606354355812073},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10020926594734192},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10009399056434631},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0757046639919281}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7893081903457642},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6971647143363953},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6647722125053406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6467047333717346},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.5700658559799194},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5683753490447998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5550598502159119},{"id":"https://openalex.org/C499950583","wikidata":"https://www.wikidata.org/wiki/Q183252","display_name":"Morphology (biology)","level":2,"score":0.49431324005126953},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.49097445607185364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2606354355812073},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10020926594734192},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10009399056434631},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0757046639919281},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3463402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3463402","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G8238017218","display_name":"Multimodal representation of robotic actions and tasks applied to Learning by demonstration","funder_award_id":"GA21-31000S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2014886722","https://openalex.org/W2047469099","https://openalex.org/W2067454831","https://openalex.org/W2073706923","https://openalex.org/W2107947143","https://openalex.org/W2133294540","https://openalex.org/W2158333529","https://openalex.org/W2209829030","https://openalex.org/W2218213558","https://openalex.org/W2344872270","https://openalex.org/W2583494560","https://openalex.org/W2773348725","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2783126232","https://openalex.org/W2808405904","https://openalex.org/W2947409955","https://openalex.org/W2947966716","https://openalex.org/W2948487384","https://openalex.org/W2963157614","https://openalex.org/W2963263790","https://openalex.org/W2978616505","https://openalex.org/W3008303301","https://openalex.org/W3041148233","https://openalex.org/W3091248659","https://openalex.org/W3104441645","https://openalex.org/W3132577180","https://openalex.org/W3143407589","https://openalex.org/W3206111276","https://openalex.org/W4200633542","https://openalex.org/W4285295841","https://openalex.org/W4383066164","https://openalex.org/W4383066247","https://openalex.org/W4383108943","https://openalex.org/W4383337613","https://openalex.org/W4387764390","https://openalex.org/W4387805864","https://openalex.org/W4396736704","https://openalex.org/W6631190155","https://openalex.org/W6694003804","https://openalex.org/W6867899988"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190","https://openalex.org/W2750919931"],"abstract_inverted_index":{"In":[0],"haptic":[1],"object":[2,37],"discrimination,":[3],"the":[4,36,82,88,101,116,126],"effect":[5],"of":[6,32,87,104,121],"gripper":[7,95],"embodiment,":[8],"action":[9,98],"parameters,":[10],"and":[11,24,49,97],"sensory":[12,47],"channels":[13],"has":[14],"not":[15],"been":[16],"systematically":[17],"studied.":[18],"We":[19],"used":[20],"two":[21,25,30],"anthropomorphic":[22],"hands":[23],"two-finger":[26],"grippers":[27],"to":[28,68,75],"grasp":[29],"sets":[31],"deformable":[33],"objects.":[34],"On":[35,115],"classification":[38],"task,":[39],"we":[40],"found:":[41],"1)":[42],"among":[43],"classifiers,":[44],"SVM":[45],"on":[46,51,145],"features":[48],"LSTM":[50],"raw":[52],"time":[53],"series":[54],"performed":[55],"best":[56],"across":[57,108],"all":[58],"grippers;":[59],"2)":[60],"faster":[61],"compression":[62,77],"speeds":[63,78],"degraded":[64],"performance;":[65],"3)":[66],"generalization":[67,107],"different":[69,76],"grasping":[70],"configurations":[71,112],"was":[72],"limited;":[73],"transfer":[74],"worked":[79],"well":[80],"for":[81],"Barrett":[83,127],"Hand":[84,128],"only.":[85],"Visualization":[86],"feature":[89],"spaces":[90],"using":[91],"PCA":[92],"showed":[93],"that":[94],"morphology":[96],"parameters":[99],"were":[100],"main":[102],"source":[103],"variance,":[105],"making":[106],"embodiment":[109],"or":[110],"grip":[111],"very":[113],"difficult.":[114],"highly":[117],"challenging":[118],"dataset":[119,151],"consisting":[120],"polyurethane":[122],"foams":[123],"alone,":[124],"only":[125],"achieved":[129],"excellent":[130],"performance.":[131],"Tactile":[132],"sensors":[133],"can":[134],"thus":[135],"provide":[136],"a":[137],"key":[138],"advantage":[139],"even":[140],"if":[141],"recognition":[142],"is":[143,156],"based":[144],"stiffness":[146],"rather":[147],"than":[148],"shape.":[149],"The":[150],"with":[152],"24":[153],"000":[154],"measurements":[155],"publicly":[157],"available.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}