{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,6]],"date-time":"2025-12-06T05:25:31Z","timestamp":1764998731526,"version":"3.46.0"},"reference-count":18,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T00:00:00Z","timestamp":1764720000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001348","name":"A*STAR","doi-asserted-by":"crossref","award":["I2201E0013"],"award-info":[{"award-number":["I2201E0013"]}],"id":[{"id":"10.13039\/501100001348","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Delta Electronics Inc."}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This work presents a method to utilise only haptic information in successfully completing a threaded insertion. We derive the insights for this task from human demonstrations and highlight the sufficiency of haptic data in this application, without the use of vision-based feedback or complex geometric models. We begin with human demonstrations to characterize the haptic artefacts that arise while employing backspinning motion. Force and motion data reveal a repeatable axial force transient (a spike); this signature repeats periodically for each revolution and appears for both internally and externally threaded parts of varying sizes. We then validate the same haptic cue on a robot arm. Finally, we use this insight in an end-to-end bulb insertion pipeline. A custom mechanical adapter ensures a secure grasp to enable autonomous threaded insertion of the bulb. Experimental results confirm that the force-based approach enables robust and repeatable insertion, demonstrating that haptic cues alone are sufficient for everyday threaded assemblies.<\/jats:p>","DOI":"10.3390\/robotics14120182","type":"journal-article","created":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T10:34:01Z","timestamp":1764758041000},"page":"182","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Haptic-Based Threaded Insertion: Insights from Human Demonstrations"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1388-9366","authenticated-orcid":false,"given":"Gautami","family":"Golani","sequence":"first","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-3411-8726","authenticated-orcid":false,"given":"Kenzhi Iskandar","family":"Wong","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9839-249X","authenticated-orcid":false,"given":"Suhas","family":"Raghavendra Kulkarni","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-6163-8617","authenticated-orcid":false,"given":"Sugandhana","family":"Shanmuganathan","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0400-0668","authenticated-orcid":false,"given":"Sri Harsha","family":"Turlapati","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongjun","family":"Wee","sequence":"additional","affiliation":[{"name":"Delta Electronics Int\u2019l (Singapore) Pte. Ltd., 17 Kallang Jct, Singapore 339274, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6930-0413","authenticated-orcid":false,"given":"Domenico","family":"Campolo","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,12,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Golani, G., Turlapati, S.H., Yang, L., Ariffin, M.Z.B., and Campolo, D. (2024, January 14\u201318). Robotic valve turning: Axial misalignment estimation from reaction torques. 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