{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T21:39:36Z","timestamp":1774647576015,"version":"3.50.1"},"reference-count":12,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,6,12]],"date-time":"2019-06-12T00:00:00Z","timestamp":1560297600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Seventh Framework Programme","award":["601116"],"award-info":[{"award-number":["601116"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation. In particular, the developed gripper with tactile sensors are shown and a procedure for the implementation of the insertion task is presented and discussed. Experimental results are reported both for quality of wire shape reconstruction and success rate of insertion task implementation.<\/jats:p>","DOI":"10.3390\/robotics8020046","type":"journal-article","created":{"date-parts":[[2019,6,12]],"date-time":"2019-06-12T10:55:19Z","timestamp":1560336919000},"page":"46","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["A Tactile-Based Wire Manipulation System for Manufacturing Applications"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9457-4643","authenticated-orcid":false,"given":"Gianluca","family":"Palli","sequence":"first","affiliation":[{"name":"Universit\u00e0 di Bologna\u2014DEI, Viale del Risorgimento 2, 40136 Bologna, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1237-0389","authenticated-orcid":false,"given":"Salvatore","family":"Pirozzi","sequence":"additional","affiliation":[{"name":"Universit\u00e0 degli Studi della Campania\u2014DI, Via Roma 29, 81031 Aversa (CE), Italy"}]}],"member":"1968","published-online":{"date-parts":[[2019,6,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1016\/j.promfg.2017.07.118","article-title":"The WIRES Experiment: Tools and Strategies for Robotized Switchgear Cabling","volume":"11","author":"Busi","year":"2017","journal-title":"Procedia Manuf."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Cirillo, A., De Maria, G., Natale, C., and Pirozzi, S. (2017, January 3\u20137). Design and Evaluation of Tactile Sensors for the Estimation of Grasped Wire Shape. Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany.","DOI":"10.1109\/AIM.2017.8014065"},{"key":"ref_3","unstructured":"De Gregorio, D., Zanella, R., Palli, G., Pirozzi, S., and Melchiorri, C. (2018). Integration of Robotic Vision and Tactile Sensing for Wire-Terminal Insertion Tasks. IEEE Trans. Autom. Sci. Eng., in press."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1177\/0278364907087172","article-title":"Robotic Grasping of Novel Objects using Vision","volume":"27","author":"Saxena","year":"2008","journal-title":"Int. J. Robot. Res."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1177\/027836498800700603","article-title":"Integrating Vision and Touch for Object Recognition Tasks","volume":"7","author":"Allen","year":"1988","journal-title":"Int. J. Robot. Res."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Bj\u00f6rkman, M., Bekiroglu, Y., H\u00f6gman, V., and Kragic, D. (2013, January 3\u20137). Enhancing visual perception of shape through tactile glances. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696808"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Bimbo, J., Seneviratne, L.D., Althoefer, K., and Liu, H. (2013, January 3\u20137). Combining touch and vision for the estimation of an object\u2019s pose during manipulation. Proceedings of the International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696931"},{"key":"ref_8","unstructured":"Bhattacharjee, T., Shenoi, A.A., Park, D., Rehg, J.M., and Kemp, C.C. (October, January 28). Combining tactile sensing and vision for rapid haptic mapping. Proceedings of the International Conference on Intelligent Robots and Systems, Hamburg, Germany."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1156","DOI":"10.1109\/LRA.2017.2662071","article-title":"Exploratory Tactile Servoing With Active Touch","volume":"2","author":"Lepora","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3227","DOI":"10.3390\/s140203227","article-title":"Object Recognition and Localization: The Role of Tactile Sensors","volume":"14","author":"Aggarwal","year":"2014","journal-title":"Sensors"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Yamaguchi, A., and Atkeson, C.G. (2016, January 15\u201317). Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables. Proceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico.","DOI":"10.1109\/HUMANOIDS.2016.7803400"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"2650","DOI":"10.1109\/TMECH.2018.2869477","article-title":"Tactile-based manipulation of wires for switchgear assembly","volume":"23","author":"Pirozzi","year":"2018","journal-title":"IEEE\/ASME Trans. Mechatron."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/2\/46\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:57:53Z","timestamp":1760187473000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/2\/46"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,6,12]]},"references-count":12,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2019,6]]}},"alternative-id":["robotics8020046"],"URL":"https:\/\/doi.org\/10.3390\/robotics8020046","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,6,12]]}}}