{"id":"https://openalex.org/W2810393904","doi":"https://doi.org/10.1145/3197517.3201330","title":"Dexterous manipulation and control with volumetric muscles","display_name":"Dexterous manipulation and control with volumetric muscles","publication_year":2018,"publication_date":"2018-07-30","ids":{"openalex":"https://openalex.org/W2810393904","doi":"https://doi.org/10.1145/3197517.3201330","mag":"2810393904"},"language":"en","primary_location":{"id":"doi:10.1145/3197517.3201330","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3197517.3201330","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","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/A5100410207","display_name":"Seung-Hwan Lee","orcid":"https://orcid.org/0009-0005-0892-2207"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seunghwan Lee","raw_affiliation_strings":["Seoul National University"],"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032654963","display_name":"Ri Yu","orcid":"https://orcid.org/0000-0002-2377-8654"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ri Yu","raw_affiliation_strings":["Seoul National University"],"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050385887","display_name":"Jungnam Park","orcid":"https://orcid.org/0000-0002-3694-093X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungnam Park","raw_affiliation_strings":["Seoul National University"],"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020399473","display_name":"Mridul Aanjaneya","orcid":"https://orcid.org/0000-0002-5286-8173"},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mridul Aanjaneya","raw_affiliation_strings":["Rutgers University"],"affiliations":[{"raw_affiliation_string":"Rutgers University","institution_ids":["https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089697513","display_name":"Eftychios Sifakis","orcid":"https://orcid.org/0000-0001-5608-3085"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eftychios Sifakis","raw_affiliation_strings":["University of Wisconsin-Madison"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100366271","display_name":"Jehee Lee","orcid":"https://orcid.org/0000-0003-1023-1868"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jehee Lee","raw_affiliation_strings":["Seoul National University"],"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100410207"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":4.0465,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.94412325,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"37","issue":"4","first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9993000030517578,"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/T12290","display_name":"Human Motion and Animation","score":0.9993000030517578,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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/computer-science","display_name":"Computer science","score":0.7383217215538025},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6461002826690674},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6306726932525635},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5862471461296082},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5682497024536133},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5265073180198669},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4713396728038788},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4260948896408081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4230629801750183},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.41573649644851685},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3653474450111389},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36393603682518005},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17169174551963806},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11351633071899414},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09476566314697266}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383217215538025},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6461002826690674},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6306726932525635},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5862471461296082},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5682497024536133},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5265073180198669},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4713396728038788},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4260948896408081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4230629801750183},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.41573649644851685},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3653474450111389},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36393603682518005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17169174551963806},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11351633071899414},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09476566314697266},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3197517.3201330","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3197517.3201330","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmh:oai:alma.01RUT_INST:11663458480004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/journalArticle/Dexterous-manipulation-and-control-with-volumetric/991031654001804646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1549114171","https://openalex.org/W1942898890","https://openalex.org/W1974836693","https://openalex.org/W1985117280","https://openalex.org/W2003584832","https://openalex.org/W2022890264","https://openalex.org/W2024243735","https://openalex.org/W2035104324","https://openalex.org/W2035306010","https://openalex.org/W2048211417","https://openalex.org/W2048637195","https://openalex.org/W2049462432","https://openalex.org/W2052912059","https://openalex.org/W2055819391","https://openalex.org/W2060897357","https://openalex.org/W2063844760","https://openalex.org/W2064488391","https://openalex.org/W2064789419","https://openalex.org/W2083375791","https://openalex.org/W2087366393","https://openalex.org/W2093231023","https://openalex.org/W2094217503","https://openalex.org/W2114106563","https://openalex.org/W2123871098","https://openalex.org/W2130281033","https://openalex.org/W2133220762","https://openalex.org/W2140190473","https://openalex.org/W2143345877","https://openalex.org/W2146990154","https://openalex.org/W2151073730","https://openalex.org/W2151906934","https://openalex.org/W2155322197","https://openalex.org/W2156410578","https://openalex.org/W2160578123","https://openalex.org/W2161759480","https://openalex.org/W2198017374","https://openalex.org/W2399760837","https://openalex.org/W2462928467","https://openalex.org/W2484505480","https://openalex.org/W2530687198","https://openalex.org/W2552452848","https://openalex.org/W2611752399","https://openalex.org/W2617644139","https://openalex.org/W2738138368","https://openalex.org/W2739069563","https://openalex.org/W2739330054","https://openalex.org/W2762162753","https://openalex.org/W2767154165","https://openalex.org/W2769052358","https://openalex.org/W2793955514","https://openalex.org/W2997016524","https://openalex.org/W3003409178","https://openalex.org/W3010627761","https://openalex.org/W4237823019","https://openalex.org/W4243294870","https://openalex.org/W4252519927"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W3097449145","https://openalex.org/W2561617217","https://openalex.org/W4323768008","https://openalex.org/W4294811468","https://openalex.org/W2355801475","https://openalex.org/W4360995134","https://openalex.org/W4206659427","https://openalex.org/W2101105382","https://openalex.org/W2362097548"],"abstract_inverted_index":{"We":[0,24],"propose":[1],"a":[2,121],"framework":[3,58],"for":[4,69],"simulation":[5],"and":[6,105,125,137,144],"control":[7],"of":[8,14,18,46,77,89],"the":[9,26,41,66,73,78,93],"human":[10],"musculoskeletal":[11],"system,":[12],"capable":[13],"reproducing":[15],"realistic":[16],"animations":[17],"dexterous":[19],"activities":[20],"with":[21,40,72,82,113,120,140],"high-level":[22],"coordination.":[23],"present":[25],"first":[27],"controllable":[28],"system":[29],"in":[30,44,92,103,107,130],"this":[31],"class":[32],"that":[33,49,101,109],"incorporates":[34],"volumetric":[35,84,90],"muscle":[36],"actuators,":[37],"tightly":[38],"coupled":[39,119],"motion":[42,132],"controller,":[43],"enhancement":[45],"line-segment":[47,114],"approximations":[48],"prior":[50],"art":[51],"is":[52,118,128],"overwhelmingly":[53],"restricted":[54],"to.":[55],"The":[56,86],"theoretical":[57],"put":[59],"forth":[60],"by":[61],"our":[62],"methodology":[63],"computes":[64],"all":[65],"necessary":[67],"Jacobians":[68],"control,":[70],"even":[71],"drastically":[74],"increased":[75],"dimensionality":[76],"state":[79],"descriptors":[80],"associated":[81],"three-dimensional,":[83],"muscles.":[85],"direct":[87],"coupling":[88],"actuators":[91],"controller":[94,117],"allows":[95],"us":[96],"to":[97],"model":[98],"muscular":[99],"deficiencies":[100],"manifest":[102],"shape":[104],"geometry,":[106],"ways":[108],"cannot":[110],"be":[111],"captured":[112],"approximations.":[115],"Our":[116],"trajectory":[122],"optimization":[123],"framework,":[124],"its":[126],"efficacy":[127],"demonstrated":[129],"complex":[131],"tasks":[133],"such":[134],"as":[135],"juggling,":[136],"weightlifting":[138],"sequences":[139],"variable":[141],"anatomic":[142],"parameters":[143],"interaction":[145],"constraints.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}