{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:54:54Z","timestamp":1777715694344,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[1999,8,1]],"date-time":"1999-08-01T00:00:00Z","timestamp":933465600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1999,8]]},"abstract":"<jats:p>We describe a spline-based framework for incorporating both position and surface-normal information into estimates of curvaturebased shape parameters. Such position and normal data can be obtained with different types of contact sensors, for example, tactile sensors, force-moment sensors, etc. The heart of our framework is an extended B-spline formulation that incorporates the surfacenormal information into a B-spline surface fit of the position data. The surface-normal information provides additional constraints for the surface fit, and can also significantly improve the approximation of the surface. Curvature-based shape parameters applied to this B-spline surface are then used to characterize the local shape of the object surface. Preliminary experiments with simple primitives\u2014spherical, cylindrical, and planar shapes\u2014and an off theshelf force\/moment sensor to obtain the position and surfacenormal data show that despite coarse resolution of the sensor, this approach succeeds in qualitative shape recognition.<\/jats:p>","DOI":"10.1177\/02783649922066556","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"779-787","source":"Crossref","is-referenced-by-count":26,"title":["Shape Description of Curved Surfaces from Contact Sensing Using Surface Normals"],"prefix":"10.1177","volume":"18","author":[{"given":"M.","family":"Charlebois","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K.","family":"Gupta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Payandeh","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, School of Engineering Science, Simon Fraser                         University, Burnaby, British Columbia V5A 1S6, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1999,8,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700603"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/70.59353"},{"key":"atypb3","unstructured":"Beach, R. 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