{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T06:35:45Z","timestamp":1770964545555,"version":"3.50.1"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2015,1,21]],"date-time":"2015-01-21T00:00:00Z","timestamp":1421798400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2015,6]]},"DOI":"10.1007\/s10514-015-9425-4","type":"journal-article","created":{"date-parts":[[2015,1,20]],"date-time":"2015-01-20T13:56:32Z","timestamp":1421762192000},"page":"25-41","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":61,"title":["Finger contact sensing and the application in dexterous hand manipulation"],"prefix":"10.1007","volume":"39","author":[{"given":"Hongbin","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kien Cuong","family":"Nguyen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V\u00e9ronique","family":"Perdereau","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joao","family":"Bimbo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junghwan","family":"Back","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew","family":"Godden","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lakmal D.","family":"Seneviratne","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,1,21]]},"reference":[{"issue":"3","key":"9425_CR1","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1007\/BF00406415","volume":"269","author":"PG Agache","year":"1980","unstructured":"Agache, P. G., Monneur, C., Leveque, J. L., & De Rigal, J. (1980). Mechanical properties and Young\u2019s modulus of human skin in vivo. Archives of Dermatological Research, 269(3), 221\u2013232.","journal-title":"Archives of Dermatological Research"},{"key":"9425_CR2","unstructured":"Back, J., Bimbo, J., Noh, Y., Seneviratne, L. D., Althoefer, K., & Liu, H. (2014). Controlling a contact sensing finger for surface haptic exploration. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 2736\u20132741)."},{"issue":"1","key":"9425_CR3","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1137\/0707011","volume":"7","author":"Y Bard","year":"1970","unstructured":"Bard, Y. (1970). Comparison of gradient methods for the solution of nonlinear parameter estimation problems. SIAM Journal on Numerical Analysis, 7(1), 157\u2013186.","journal-title":"SIAM Journal on Numerical Analysis"},{"issue":"3","key":"9425_CR4","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1177\/027836499301200304","volume":"12","author":"A Bicchi","year":"1993","unstructured":"Bicchi, A., Salisbury, J. K., & Brock, D. L. (1993). Contact sensing from force measurements. The International Journal of Robotics Research, 12(3), 249\u2013262.","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"9425_CR5","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1109\/70.897777","volume":"16","author":"A Bicchi","year":"2000","unstructured":"Bicchi, A. (2000). Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Transactions on Robotics and Automation, 16(6), 652\u2013662.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9425_CR6","doi-asserted-by":"crossref","unstructured":"Bimbo, J., Seneviratne, L. D., Althoefer, K., & Liu, H. (2013). Combining touch and vision for the estimation of an object\u2019s pose during manipulation. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4021\u20134026).","DOI":"10.1109\/IROS.2013.6696931"},{"key":"9425_CR7","doi-asserted-by":"crossref","unstructured":"Bossert, D., Ly, U. L., & Vagners, J. (1996). Experimental evaluation of a hybrid position and force surface following algorithm for unknown surfaces. In Proceedings of IEEE International Conference on Robotics and Automation, 1996 (Vol. 3, pp. 2252\u20132257).","DOI":"10.1109\/ROBOT.1996.506499"},{"key":"9425_CR8","unstructured":"Chang, W. C. (2004). Cartesian-based planar contour following with automatic hybrid force and visual feedback. In IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2004 (Vol. 3, pp. 3062\u20133067)."},{"issue":"1","key":"9425_CR9","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","volume":"26","author":"RS Dahiya","year":"2010","unstructured":"Dahiya, R. S., Metta, G., Valle, M., & Sandini, G. (2010). Tactile sensing-from humans to humanoids. IEEE Transactions on Robotics, 26(1), 1\u201320.","journal-title":"IEEE Transactions on Robotics"},{"issue":"12","key":"9425_CR10","doi-asserted-by":"crossref","first-page":"3216","DOI":"10.1109\/JSEN.2011.2159835","volume":"11","author":"RS Dahiya","year":"2011","unstructured":"Dahiya, R. S., Cattin, D., Adami, A., Collini, C., Barboni, L., Valle, M., et al. (2011). Towards tactile sensing system on chip for robotic applications. IEEE Sensors Journal, 11(12), 3216\u20133226.","journal-title":"IEEE Sensors Journal"},{"issue":"1","key":"9425_CR11","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/S0924-4247(99)00295-2","volume":"80","author":"J Dargahi","year":"2000","unstructured":"Dargahi, J. (2000). A piezoelectric tactile sensor with three sensing elements for robotic, endoscopic and prosthetic applications. Sensors and Actuators A: Physical, 80(1), 23\u201330.","journal-title":"Sensors and Actuators A: Physical"},{"key":"9425_CR12","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.sna.2011.12.042","volume":"175","author":"G Maria De","year":"2012","unstructured":"De Maria, G., Natale, C., & Pirozzi, S. (2012). Force\/tactile sensor for robotic applications. Sensors and Actuators A: Physical, 175, 60\u201372.","journal-title":"Sensors and Actuators A: Physical"},{"issue":"9","key":"9425_CR13","doi-asserted-by":"crossref","first-page":"1008","DOI":"10.1016\/j.robot.2013.05.006","volume":"61","author":"G Maria De","year":"2013","unstructured":"De Maria, G., Natale, C., & Pirozzi, S. (2013). Tactile data modeling and interpretation for stable grasping and manipulation. Robotics and Autonomous Systems, 61(9), 1008\u20131020.","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"9425_CR14","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1109\/3516.914388","volume":"6","author":"JA G\u00e1lvez","year":"2001","unstructured":"G\u00e1lvez, J. A., & Gonzalez de Santos, P. (2001). Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot. IEEE\/ASME Transactions on Mechatronics, 6(1), 26\u201335.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"3","key":"9425_CR15","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1109\/TRO.2010.2103470","volume":"27","author":"VA Ho","year":"2011","unstructured":"Ho, V. A., Dao, D. V., Sugiyama, S., & Hirai, S. (2011). Development and analysis of a sliding tactile soft fingertip embedded with a microforce\/moment sensor. IEEE Transactions on Robotics, 27(3), 411\u2013424.","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"9425_CR16","doi-asserted-by":"crossref","first-page":"557","DOI":"10.1177\/027836499601500603","volume":"15","author":"RD Howe","year":"1996","unstructured":"Howe, R. D., & Cutkosky, M. R. (1996). Practical force-motion models for sliding manipulation. The International Journal of Robotics Research, 15(6), 557\u2013572.","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"9425_CR17","doi-asserted-by":"crossref","first-page":"1273","DOI":"10.1109\/TRO.2006.886274","volume":"22","author":"T Inoue","year":"2006","unstructured":"Inoue, T., & Hirai, S. (2006). Elastic model of deformable fingertip for soft-fingered manipulation. IEEE Transactions on Robotics, 22(6), 1273\u20131279.","journal-title":"IEEE Transactions on Robotics"},{"key":"9425_CR18","volume-title":"Mechanics and control of soft-fingered manipulation","author":"T Inoue","year":"2009","unstructured":"Inoue, T., & Hirai, S. (2009). Mechanics and control of soft-fingered manipulation. London: Springer."},{"issue":"3","key":"9425_CR19","doi-asserted-by":"crossref","first-page":"508","DOI":"10.1109\/TRO.2011.2127110","volume":"27","author":"N Jamali","year":"2011","unstructured":"Jamali, N., & Sammut, C. (2011). Majority voting: Material classification by tactile sensing using surface texture. IEEE Transactions on Robotics, 27(3), 508\u2013521.","journal-title":"IEEE Transactions on Robotics"},{"key":"9425_CR20","doi-asserted-by":"crossref","first-page":"604","DOI":"10.1109\/TIE.2006.870682","volume":"53","author":"F Jatta","year":"2006","unstructured":"Jatta, F., Legnani, G., & Visioli, A. (2006). Friction compensation in hybrid force\/velocity control of industrial manipulators. IEEE Transactions on Industrial Electronics, 53, 604\u2013613.","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"5","key":"9425_CR21","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1038\/nrn2621","volume":"10","author":"RS Johansson","year":"2009","unstructured":"Johansson, R. S., & Flanagan, J. R. (2009). Coding and use of tactile signals from the fingertips in object manipulation tasks. Nature Reviews Neuroscience, 10(5), 345\u2013359.","journal-title":"Nature Reviews Neuroscience"},{"issue":"6","key":"9425_CR22","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1177\/027836499301200602","volume":"12","author":"I Kao","year":"1993","unstructured":"Kao, I., & Cutkosky, M. R. (1993). Comparison of theoretical and experimental force\/motion trajectories for dextrous manipulation with sliding. The International Journal of Robotics Research, 12(6), 529\u2013534.","journal-title":"The International Journal of Robotics Research"},{"issue":"1","key":"9425_CR23","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1109\/TRA.2003.820868","volume":"20","author":"I Kao","year":"2004","unstructured":"Kao, I., & Yang, F. (2004). Stiffness and contact mechanics for soft fingers in grasping and manipulation. IEEE Transactions on Robotics and Automation, 20(1), 132\u2013135.","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"1","key":"9425_CR24","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/MRA.2007.339604","volume":"14","author":"CC Kemp","year":"2007","unstructured":"Kemp, C. C., Edsinger, A., & Torres-Jara, E. (2007). Challenges for robot manipulation in human environments [grand challenges of robotics]. IEEE Robotics & Automation Magazine, 14(1), 20\u201329.","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"4","key":"9425_CR25","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1016\/0010-0285(90)90009-S","volume":"22","author":"SJ Lederman","year":"1990","unstructured":"Lederman, S. J., & Klatzky, R. L. (1990). Haptic classification of common objects: Knowledge-driven exploration. Cognitive Psychology, 22(4), 421\u2013459.","journal-title":"Cognitive Psychology"},{"issue":"4","key":"9425_CR26","doi-asserted-by":"crossref","first-page":"953","DOI":"10.1109\/TBME.2009.2033464","volume":"57","author":"X Liang","year":"2010","unstructured":"Liang, X., & Boppart, S. A. (2010). Biomechanical properties of in vivo human skin from dynamic optical coherence elastography. IEEE Transactions on Biomedical Engineering, 57(4), 953\u2013959.","journal-title":"IEEE Transactions on Biomedical Engineering"},{"key":"9425_CR27","doi-asserted-by":"crossref","unstructured":"Liu, H., Song, X., Bimbo, J., Althoefer, K., & Seneviratne, L. (2012a). Surface material recognition through haptic exploration using an intelligent contact sensing finger. In IEEE\/RSJ International Conference Intelligent Robots and Systems (pp. 52\u201357).","DOI":"10.1109\/IROS.2012.6385815"},{"key":"9425_CR28","doi-asserted-by":"crossref","unstructured":"Liu, H., Song, X., Nanayakkara, T., Seneviratne, L. D., & Althoefer, K. (2012b). A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 1410\u20131415).","DOI":"10.1109\/ICRA.2012.6224872"},{"key":"9425_CR29","volume-title":"Methods for non-linear least square problems","author":"K Madsen","year":"2004","unstructured":"Madsen, K., Nielsen, H. B., & Tingleff, O. (2004). Methods for non-linear least square problems (2nd ed.). IMM, DTU: Lecture Notes.","edition":"2"},{"key":"9425_CR30","doi-asserted-by":"crossref","unstructured":"Murakami, K., & Hasegawa, T. (2005). Tactile sensing of edge direction of an object with a soft fingertip contact. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2571\u20132577).","DOI":"10.1109\/ROBOT.2005.1570500"},{"key":"9425_CR31","unstructured":"Nguyen, K. C., & Perdereau, V. (2013). Fingertip force control based on max torque adjustment for dexterous manipulation of an anthropomorphic hand. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3557\u20133563)."},{"issue":"5","key":"9425_CR32","doi-asserted-by":"crossref","first-page":"860","DOI":"10.1299\/jamdsm.2.860","volume":"2","author":"M Ohka","year":"2008","unstructured":"Ohka, M., Kobayashi, H., Takata, J., & Mitsuya, Y. (2008). An experimental optical three-axis tactile sensor featured with hemispherical surface. Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2(5), 860\u2013873.","journal-title":"Journal of Advanced Mechanical Design, Systems, and Manufacturing"},{"issue":"12","key":"9425_CR33","doi-asserted-by":"crossref","first-page":"925","DOI":"10.1177\/02783640122068191","volume":"20","author":"AM Okamura","year":"2001","unstructured":"Okamura, A. M., & Cutkosky, M. R. (2001). Feature detection for haptic exploration with robotic fingers. The International Journal of Robotics Research, 20(12), 925\u2013938.","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"9425_CR34","doi-asserted-by":"crossref","first-page":"176","DOI":"10.1016\/S0947-3580(98)70113-X","volume":"4","author":"H Olsson","year":"1998","unstructured":"Olsson, H., \u00c5str\u00f6m, K. J., G\u00e4fvert, M., & Lischinsky, P. (1998). Friction models and friction compensation. European Journal of Control, 4(3), 176\u2013195.","journal-title":"European Journal of Control"},{"issue":"2","key":"9425_CR35","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1115\/1.2835100","volume":"121","author":"DT Pawluk","year":"1999","unstructured":"Pawluk, D. T., & Howe, R. D. (1999). Dynamic lumped element response of the human fingerpad. Journal of Biomechanical Engineering, 121(2), 178\u2013183.","journal-title":"Journal of Biomechanical Engineering"},{"issue":"4","key":"9425_CR36","doi-asserted-by":"crossref","first-page":"646","DOI":"10.1109\/TMECH.2011.2116033","volume":"17","author":"P Puangmali","year":"2012","unstructured":"Puangmali, P., Liu, H., Seneviratne, L. D., Dasgupta, P., & Althoefer, K. (2012). Miniature 3-axis distal force sensor for minimally invasive surgical palpation. IEEE\/ASME Transactions on Mechatronics, 17(4), 646\u2013656.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"3","key":"9425_CR37","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1093\/brain\/105.3.515","volume":"105","author":"JC Rothwell","year":"1982","unstructured":"Rothwell, J. C., Traub, M. M., Day, B. L., Obeso, J. A., Thomas, P. K., & Marsden, C. D. (1982). Manual motor performance in a deafferented man. Brain, 105(3), 515\u2013542.","journal-title":"Brain"},{"key":"9425_CR38","doi-asserted-by":"crossref","unstructured":"Salisbury, J. Jr. (1984). Interpretation of contact geometries from force measurements. In Proceedings of the IEEE International Conference on Robotics and Automation, 1984 (Vol. 1, pp. 240\u2013247). IEEE.","DOI":"10.1109\/ROBOT.1984.1087180"},{"issue":"4","key":"9425_CR39","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1088\/0960-1317\/16\/4\/013","volume":"16","author":"T Salo","year":"2006","unstructured":"Salo, T., Van\u010dura, T., & Baltes, H. (2006). CMOS-sealed membrane capacitors for medical tactile sensors. Journal of Micromechanics and Microengineering, 16(4), 769\u2013778.","journal-title":"Journal of Micromechanics and Microengineering"},{"issue":"3","key":"9425_CR40","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1109\/TRO.2011.2132930","volume":"27","author":"A Schmitz","year":"2011","unstructured":"Schmitz, A., Maiolino, P., Maggiali, M., Natale, L., Cannata, G., & Metta, G. (2011). Methods and technologies for the implementation of large-scale robot tactile sensors. IEEE Transactions on Robotics, 27(3), 389\u2013400.","journal-title":"IEEE Transactions on Robotics"},{"issue":"5","key":"9425_CR41","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1109\/JSEN.2004.833152","volume":"4","author":"M Shimojo","year":"2004","unstructured":"Shimojo, M., Namiki, A., Ishikawa, M., Makino, R., & Mabuchi, K. (2004). A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method. IEEE Sensors Journal, 4(5), 589\u2013596.","journal-title":"IEEE Sensors Journal"},{"key":"9425_CR42","doi-asserted-by":"crossref","unstructured":"Song, X., Liu, H., Bimbo, J., Althoefer, K., & Seneviratne, L. D. (2012). A novel dynamic slip prediction and compensation approach based on haptic surface exploration. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4511\u20134516).","DOI":"10.1109\/IROS.2012.6385897"},{"issue":"1","key":"9425_CR43","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1109\/TRO.2013.2279630","volume":"30","author":"X Song","year":"2014","unstructured":"Song, X., Liu, H., Althoefer, K., Nanayakkara, T., & Seneviratne, L. D. (2014). Efficient break-away friction ratio and slip prediction based on haptic surface exploration. IEEE Transactions on Robotics, 30(1), 203\u2013219.","journal-title":"IEEE Transactions on Robotics"},{"key":"9425_CR44","doi-asserted-by":"crossref","unstructured":"Teshigawara, S., Tsutsumi, T., Shimizu, S., Suzuki, Y., Ming, A., Ishikawa, M., & Shimojo, M. (2011). Highly sensitive sensor for detection of initial slip and its application in a multi-fingered robot hand. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 1097\u20131102).","DOI":"10.1109\/ICRA.2011.5979750"},{"issue":"8","key":"9425_CR45","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1163\/156855308X314533","volume":"22","author":"N Wettels","year":"2008","unstructured":"Wettels, N., Santos, V. J., Johansson, R. S., & Loeb, G. E. (2008). Biomimetic tactile sensor array. Advanced Robotics, 22(8), 829\u2013849.","journal-title":"Advanced Robotics"},{"issue":"1","key":"9425_CR46","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/j.sna.2006.10.037","volume":"139","author":"A Wisitsoraat","year":"2007","unstructured":"Wisitsoraat, A., Patthanasetakul, V., Lomas, T., & Tuantranont, A. (2007). Low cost thin film based piezoresistive MEMS tactile sensor. Sensors and Actuators A: Physical, 139(1), 17\u201322.","journal-title":"Sensors and Actuators A: Physical"},{"issue":"9","key":"9425_CR47","doi-asserted-by":"crossref","first-page":"941","DOI":"10.1177\/02783649922066673","volume":"18","author":"N Xydas","year":"1999","unstructured":"Xydas, N., & Kao, I. (1999). Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results. The International Journal of Robotics Research, 18(9), 941\u2013950.","journal-title":"The International Journal of Robotics Research"},{"key":"9425_CR48","doi-asserted-by":"crossref","unstructured":"Yamada, T., Tanaka, A., Yamada, M., Yamamoto, & H., Funahashi, Y. (2010). Autonomous sensing strategy for parameter identification of contact conditions by active force sensing. In IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 839\u2013844).","DOI":"10.1109\/ROBIO.2010.5723435"},{"issue":"2","key":"9425_CR49","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1016\/j.sna.2011.02.038","volume":"167","author":"H Yousef","year":"2011","unstructured":"Yousef, H., Boukallel, M., & Althoefer, K. (2011). Tactile sensing for dexterous in-hand manipulation in robotics\u2013A review. Sensors and Actuators A: Physical, 167(2), 171\u2013187.","journal-title":"Sensors and Actuators A: Physical"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9425-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-015-9425-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9425-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,19]],"date-time":"2019-08-19T22:12:23Z","timestamp":1566252743000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-015-9425-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,1,21]]},"references-count":49,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,6]]}},"alternative-id":["9425"],"URL":"https:\/\/doi.org\/10.1007\/s10514-015-9425-4","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,1,21]]}}}