{"id":"https://openalex.org/W2101779732","doi":"https://doi.org/10.1177/027836499101000202","title":"Using Tactile Data for Real-Time Feedback","display_name":"Using Tactile Data for Real-Time Feedback","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W2101779732","doi":"https://doi.org/10.1177/027836499101000202","mag":"2101779732"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000202","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000202","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5012182056","display_name":"Alan Berger","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alan D. Berger","raw_affiliation_strings":["Department of Electrical and Computer Engineering The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103573531","display_name":"Pradeep K. Khosla","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pradeep K. Khosla","raw_affiliation_strings":["Department of Electrical and Computer Engineering The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012182056"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.3972,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.95744296,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"88","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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":0.9975000023841858,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9878000020980835,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9521999955177307,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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-vision","display_name":"Computer vision","score":0.7857716083526611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7853291034698486},{"id":"https://openalex.org/keywords/thresholding","display_name":"Thresholding","score":0.7181206941604614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6888066530227661},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.639651894569397},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5803627371788025},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.579432487487793},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.537605881690979},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.49793171882629395},{"id":"https://openalex.org/keywords/edge-detection","display_name":"Edge detection","score":0.41035354137420654},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.3701082468032837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24740365147590637},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23755022883415222},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1403481662273407}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7857716083526611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7853291034698486},{"id":"https://openalex.org/C191178318","wikidata":"https://www.wikidata.org/wiki/Q2256906","display_name":"Thresholding","level":3,"score":0.7181206941604614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6888066530227661},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.639651894569397},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5803627371788025},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.579432487487793},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.537605881690979},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.49793171882629395},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.41035354137420654},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.3701082468032837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24740365147590637},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23755022883415222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1403481662273407},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499101000202","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000202","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.943.8560","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.943.8560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/10/2/88.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W56692148","https://openalex.org/W141992784","https://openalex.org/W751230448","https://openalex.org/W1498467994","https://openalex.org/W1534631622","https://openalex.org/W1569904303","https://openalex.org/W1597979665","https://openalex.org/W1772598243","https://openalex.org/W1901081280","https://openalex.org/W1907987801","https://openalex.org/W1985788628","https://openalex.org/W2003000667","https://openalex.org/W2004491626","https://openalex.org/W2016958754","https://openalex.org/W2026311529","https://openalex.org/W2050444906","https://openalex.org/W2069385286","https://openalex.org/W2084134149","https://openalex.org/W2097004252","https://openalex.org/W2100185791","https://openalex.org/W2101755618","https://openalex.org/W2105660272","https://openalex.org/W2116864996","https://openalex.org/W2118391897","https://openalex.org/W2124884064","https://openalex.org/W2137714474","https://openalex.org/W2145158371","https://openalex.org/W2155641755","https://openalex.org/W2156258552","https://openalex.org/W2163031850","https://openalex.org/W2740373864","https://openalex.org/W3017143921","https://openalex.org/W3124058554"],"related_works":["https://openalex.org/W2340004334","https://openalex.org/W2354824782","https://openalex.org/W2055210187","https://openalex.org/W2361573535","https://openalex.org/W2959220123","https://openalex.org/W2472194915","https://openalex.org/W2564499338","https://openalex.org/W2763966779","https://openalex.org/W4295539746","https://openalex.org/W2390413307"],"abstract_inverted_index":{"Object":[0],"recognition":[1],"through":[2],"the":[3,29,48,64,67,77,99,111,118,124,129,147,177,184,188,194,200,203,209,215,227],"use":[4,103,153],"of":[5,14,33,51,79,87,106,134,211,233],"input":[6],"from":[7,66,123,199],"multiple":[8,125],"sensors":[9],"is":[10,25,70,93],"an":[11,15,238],"important":[12],"aspect":[13],"autonomous":[16],"manipula":[17],"tion":[18],"system.":[19,182],"In":[20,60,98,149,221],"tactile":[21,45,68,88,130,195,212,234],"object":[22,34],"recognition,":[23],"it":[24],"necessary":[26],"to":[27,54,75,95,116,120,140,145,202,218],"determine":[28,76],"location":[30,78],"and":[31,36,110,161,187,229,237],"orientation":[32],"edges":[35,56,126,136],"surfaces.":[37],"We":[38],"propose":[39],"a":[40,44,52,104,142,154],"controller":[41,156],"that":[42,157],"utilizes":[43],"sensor":[46,69,201],"in":[47,57,72,128,170],"feedback":[49],"loop":[50],"manipulator":[53],"track":[55],"real":[58],"time.":[59],"our":[61,150],"control":[62,189],"system,":[63],"data":[65],"processed":[71],"two":[73],"stages":[74],"edges.":[80,97],"The":[81,132,165],"first":[82],"stage":[83],"involves":[84],"adaptive":[85],"thresholding":[86],"images.":[89],"This":[90],"thresholded":[91],"image":[92],"used":[94,139],"detect":[96],"second":[100],"stage,":[101],"we":[102,152,224],"combination":[105],"weighted":[107],"least":[108],"squares":[109],"Modified":[112],"Adaptive":[113],"Hough":[114],"Transform":[115],"choose":[117],"edge":[119,166,235,239],"be":[121],"tracked":[122],"present":[127],"image.":[131],"parameters":[133],"these":[135],"are":[137,197],"then":[138],"generate":[141],"set-point":[143],"signal":[144,185],"drive":[146],"manipulator.":[148],"implementation,":[151],"Hybrid":[155],"uses":[158],"both":[159,226],"position":[160],"force":[162],"set":[163],"points.":[164],"tracker,":[167],"pre":[168],"sented":[169],"this":[171,222],"article,":[172,223],"has":[173],"been":[174],"implemented":[175],"on":[176],"CMU":[178],"DD":[179],"Arm":[180],"II":[181],"While":[183],"processing":[186],"computation":[190],"require":[191],"30":[192],"ms,":[193],"images":[196,213],"transferred":[198],"computer":[204],"every":[205],"240":[206],"ms.":[207],"Consequently,":[208],"acquisition":[210],"limits":[214],"sampling":[216],"rate":[217],"4.2":[219],"Hz.":[220],"describe":[225],"theory":[228],"exper":[230],"imental":[231],"implementation":[232],"detection":[236],"tracking":[240],"controller.":[241]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}