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Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities","award":["ZDSYS20220527171403009"],"award-info":[{"award-number":["ZDSYS20220527171403009"]}]},{"name":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities","award":["SGDX20220530110804030"],"award-info":[{"award-number":["SGDX20220530110804030"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>In-hand object pose estimation is challenging for humans and robots due to occlusion caused by the hand and object. This paper proposes a soft finger that integrates inner vision with kinesthetic sensing to estimate object pose inspired by human fingers. The soft finger has a flexible skeleton and skin that adapts to different objects, and the skeleton deformations during interaction provide contact information obtained by the image from the inner camera. The proposed framework is an end-to-end method that uses raw images from soft fingers to estimate in-hand object pose. It consists of an encoder for kinesthetic information processing and an object pose and category estimator. The framework was tested on seven objects, achieving an impressive error of 2.02 mm and 11.34 degrees for pose error and 99.05% for classification.<\/jats:p>","DOI":"10.3390\/biomimetics8060501","type":"journal-article","created":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T12:59:01Z","timestamp":1697893141000},"page":"501","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2492-0218","authenticated-orcid":false,"given":"Xiaobo","family":"Liu","sequence":"first","affiliation":[{"name":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9986-8990","authenticated-orcid":false,"given":"Xudong","family":"Han","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4963-3381","authenticated-orcid":false,"given":"Ning","family":"Guo","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8658-1197","authenticated-orcid":false,"given":"Fang","family":"Wan","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"School of Design, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0166-8112","authenticated-orcid":false,"given":"Chaoyang","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"299","DOI":"10.3758\/BF03211351","article-title":"Identifying objects by touch: An \u201cexpert system\u201d","volume":"37","author":"Klatzky","year":"1985","journal-title":"Percept. 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