{"id":"https://openalex.org/W2090348003","doi":"https://doi.org/10.1109/urai.2011.6145861","title":"Compliance control of a position controlled robotic hand using F/T sensors","display_name":"Compliance control of a position controlled robotic hand using F/T sensors","publication_year":2011,"publication_date":"2011-11-01","ids":{"openalex":"https://openalex.org/W2090348003","doi":"https://doi.org/10.1109/urai.2011.6145861","mag":"2090348003"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2011.6145861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5072054426","display_name":"Joonhee Jo","orcid":"https://orcid.org/0000-0002-6133-0754"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonhee Jo","raw_affiliation_strings":["Interaction & Robotics Research Center, KIST, Seoul, South Korea","Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002154597","display_name":"Sung-Kyun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Kyun Kim","raw_affiliation_strings":["Interaction & Robotics Research Center, KIST, Seoul, South Korea","Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Interaction & Robotics Research Center, KIST, Seoul, South Korea","Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014100305","display_name":"Sang\u2013Rok Oh","orcid":"https://orcid.org/0000-0002-1102-031X"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Rok Oh","raw_affiliation_strings":["Interaction & Robotics Research Center, KIST, Seoul, South Korea","Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Interaction & Robotics Research Center, KIST, Seoul, 136-791, Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210096735"],"apc_list":null,"apc_paid":null,"fwci":2.3291,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87355349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"446","last_page":"450"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6780332326889038},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6542055606842041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.588959276676178},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.542549192905426},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5315306782722473},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5182614326477051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4729965627193451},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4694478213787079},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41794806718826294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41004323959350586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4092182517051697},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4046512842178345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34231942892074585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32067859172821045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3101411759853363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09972873330116272}],"concepts":[{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6780332326889038},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6542055606842041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.588959276676178},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.542549192905426},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5315306782722473},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5182614326477051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4729965627193451},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4694478213787079},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41794806718826294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41004323959350586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4092182517051697},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4046512842178345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34231942892074585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32067859172821045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3101411759853363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09972873330116272},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2011.6145861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1499357234","https://openalex.org/W2111848613","https://openalex.org/W2121500398"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W2365687337","https://openalex.org/W2358180351","https://openalex.org/W2392368077","https://openalex.org/W2365082216","https://openalex.org/W2388018705","https://openalex.org/W2362703586","https://openalex.org/W2389641749","https://openalex.org/W2386832005","https://openalex.org/W2356919096"],"abstract_inverted_index":{"There":[0],"are":[1,70,76,93],"a":[2,16],"variety":[3],"of":[4,33,45],"robotic":[5,17,48],"hands":[6],"with":[7,52,78],"many":[8,13],"different":[9],"hardware":[10],"configurations":[11],"including":[12],"sensors.":[14],"For":[15,82],"hand,":[18],"physical":[19],"interaction":[20],"between":[21],"the":[22,56,79,84],"hand":[23,49],"and":[24,66,74,95],"objects":[25],"is":[26,32,50],"an":[27,60],"interesting":[28],"point.":[29],"Compliance":[30],"control":[31,44],"great":[34],"importance":[35],"in":[36],"grasping":[37],"arbitrary":[38],"object.":[39],"In":[40],"this":[41],"paper,":[42],"compliance":[43],"position":[46],"controlled":[47],"attempted":[51],"external":[53],"sensor":[54,63,90],"on":[55],"finger":[57],"tip.":[58],"Utilizing":[59],"F/T":[61],"sensor,":[62],"compensation":[64,69],"first":[65],"then":[67],"gravity":[68],"executed.":[71],"Overall":[72],"system":[73],"algorithm":[75],"analyzed":[77],"proposed":[80,85],"controllers.":[81],"validating":[83],"method,":[86],"low-pass":[87],"filter":[88],"(LPF),":[89],"initial":[91],"calibration":[92],"conducted":[94],"showed":[96],"competent":[97],"results.":[98]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}