{"id":"https://openalex.org/W4402592312","doi":"https://doi.org/10.1109/tro.2024.3463509","title":"Proprioceptive State Estimation for Amphibious Tactile Sensing","display_name":"Proprioceptive State Estimation for Amphibious Tactile Sensing","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402592312","doi":"https://doi.org/10.1109/tro.2024.3463509"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3463509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3463509","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/A5103090210","display_name":"Ning Guo","orcid":"https://orcid.org/0000-0002-4963-3381"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Guo","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-4963-3381","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009808832","display_name":"Xudong Han","orcid":"https://orcid.org/0000-0001-9986-8990"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Han","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9986-8990","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101814284","display_name":"Shuqiao Zhong","orcid":"https://orcid.org/0009-0006-0908-7992"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqiao Zhong","raw_affiliation_strings":["Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0006-0908-7992","affiliations":[{"raw_affiliation_string":"Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101728867","display_name":"Zhiyuan Zhou","orcid":"https://orcid.org/0000-0002-8963-3167"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Zhou","raw_affiliation_strings":["Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8963-3167","affiliations":[{"raw_affiliation_string":"Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024173016","display_name":"Jian Lin","orcid":"https://orcid.org/0000-0002-6831-2014"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Lin","raw_affiliation_strings":["Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6831-2014","affiliations":[{"raw_affiliation_string":"Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9729-1662","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025126700","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0002-8658-1197"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["School of Design, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8658-1197","affiliations":[{"raw_affiliation_string":"School of Design, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028976561","display_name":"Chaoyang Song","orcid":"https://orcid.org/0000-0002-0166-8112"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Song","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0166-8112","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.4075,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.79483131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"4662","last_page":"4676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9779000282287598,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9779000282287598,"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/estimation","display_name":"Estimation","score":0.5505790710449219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.534690797328949},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5254130363464355},{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.5229502320289612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48628437519073486},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47310352325439453},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4134683609008789},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3264538645744324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222041428089142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30885717272758484},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14833742380142212},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10546675324440002}],"concepts":[{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5505790710449219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.534690797328949},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5254130363464355},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.5229502320289612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48628437519073486},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47310352325439453},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4134683609008789},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3264538645744324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222041428089142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30885717272758484},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14833742380142212},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10546675324440002},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3463509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3463509","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":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G7795124032","display_name":null,"funder_award_id":"62206119","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":79,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1586292627","https://openalex.org/W1775013730","https://openalex.org/W1983156320","https://openalex.org/W1994349244","https://openalex.org/W1995213905","https://openalex.org/W2002589631","https://openalex.org/W2030532559","https://openalex.org/W2074936002","https://openalex.org/W2076159000","https://openalex.org/W2076776712","https://openalex.org/W2078072002","https://openalex.org/W2089637722","https://openalex.org/W2094732964","https://openalex.org/W2107153006","https://openalex.org/W2113085766","https://openalex.org/W2113524221","https://openalex.org/W2146990154","https://openalex.org/W2148821982","https://openalex.org/W2171130677","https://openalex.org/W2295628903","https://openalex.org/W2567813906","https://openalex.org/W2593610497","https://openalex.org/W2750411879","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2783627282","https://openalex.org/W2788109308","https://openalex.org/W2792360281","https://openalex.org/W2886316146","https://openalex.org/W2890084868","https://openalex.org/W2902269261","https://openalex.org/W2902808022","https://openalex.org/W2917559944","https://openalex.org/W2947434510","https://openalex.org/W2950069298","https://openalex.org/W2955383310","https://openalex.org/W2963765355","https://openalex.org/W2972319721","https://openalex.org/W2982567022","https://openalex.org/W2989590188","https://openalex.org/W2990747716","https://openalex.org/W2994446013","https://openalex.org/W3018423233","https://openalex.org/W3022807388","https://openalex.org/W3041148233","https://openalex.org/W3046620763","https://openalex.org/W3090718559","https://openalex.org/W3110492994","https://openalex.org/W3111745425","https://openalex.org/W3127009095","https://openalex.org/W3130589561","https://openalex.org/W3134259965","https://openalex.org/W3171804290","https://openalex.org/W3172154564","https://openalex.org/W3205150124","https://openalex.org/W3207896823","https://openalex.org/W4205805726","https://openalex.org/W4205912149","https://openalex.org/W4211049957","https://openalex.org/W4213297255","https://openalex.org/W4246041266","https://openalex.org/W4281764731","https://openalex.org/W4292322160","https://openalex.org/W4304698290","https://openalex.org/W4308945982","https://openalex.org/W4312720787","https://openalex.org/W4313639260","https://openalex.org/W4378083063","https://openalex.org/W4386933618","https://openalex.org/W4389668786","https://openalex.org/W4390748660","https://openalex.org/W4391146268","https://openalex.org/W4392761615","https://openalex.org/W6802136122","https://openalex.org/W6803290842","https://openalex.org/W6849681998","https://openalex.org/W6859922198","https://openalex.org/W6884311550"],"related_works":["https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2053711990","https://openalex.org/W2006407928","https://openalex.org/W2298182222","https://openalex.org/W2792430535","https://openalex.org/W1566120828","https://openalex.org/W1593152772","https://openalex.org/W2736566061"],"abstract_inverted_index":{"This":[0,166],"article":[1],"presents":[2],"a":[3,9,72,103,111,123],"novel":[4],"vision-based":[5],"proprioception":[6],"approach":[7,99],"for":[8,129,161,178],"soft":[10,78],"robotic":[11,180],"finger":[12,79],"that":[13],"can":[14],"estimate":[15],"and":[16,22,80,110,153,171],"reconstruct":[17],"tactile":[18,65,173],"interactions":[19],"in":[20,31,67,150],"terrestrial":[21],"aquatic":[23],"environments.":[24],"The":[25,98],"key":[26],"to":[27,89,134],"this":[28],"system":[29,106],"lies":[30],"the":[32,58,77,82,87,91,95,140,145,176],"finger's":[33,59,141],"unique":[34],"metamaterial":[35],"structure,":[36],"which":[37],"facilitates":[38],"omnidirectional":[39],"passive":[40,169],"adaptation":[41,170],"during":[42,61],"grasping,":[43],"protecting":[44],"delicate":[45],"objects":[46],"across":[47],"diverse":[48],"scenarios.":[49],"A":[50],"compact":[51],"in-finger":[52],"camera":[53,88],"captures":[54],"high-framerate":[55],"images":[56],"of":[57,76,94,126,139,168],"deformation":[60],"contact,":[62],"extracting":[63],"crucial":[64],"data":[66],"real":[68],"time.":[69],"We":[70],"present":[71],"volumetric":[73],"discretized":[74],"model":[75],"use":[81],"geometry":[83],"constraints":[84],"captured":[85],"by":[86],"find":[90],"optimal":[92],"estimation":[93,147],"deformed":[96],"shape.":[97],"is":[100,148],"benchmarked":[101],"using":[102],"motion":[104],"capture":[105],"with":[107,114,122],"sparse":[108],"markers":[109],"haptic":[112],"device":[113],"dense":[115],"measurements.":[116],"Both":[117],"results":[118],"show":[119],"state-of-the-art":[120],"accuracy,":[121],"median":[124],"error":[125],"1.96":[127],"mm":[128],"overall":[130],"body":[131],"deformation,":[132],"corresponding":[133],"2.1<inline-formula":[135],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[136],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[137],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[138],"length.":[142],"More":[143],"importantly,":[144],"state":[146],"robust":[149],"both":[151],"on-land":[152],"underwater":[154,162],"environments":[155],"as":[156],"we":[157],"demonstrate":[158],"its":[159],"usage":[160],"object":[163],"shape":[164],"sensing.":[165],"combination":[167],"real-time":[172],"sensing":[174],"paves":[175],"way":[177],"amphibious":[179],"grasping":[181],"applications.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}
