{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,11]],"date-time":"2026-08-11T06:48:38Z","timestamp":1786430918642,"version":"build-2736575974"},"reference-count":36,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T00:00:00Z","timestamp":1761609600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["52375027"],"award-info":[{"award-number":["52375027"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"National Engineering Research Center for Petroleum Refining Technology and Catalyst of China","award":["ZC0609-0014"],"award-info":[{"award-number":["ZC0609-0014"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The six-degree-of-freedom (6-DoF) interaction forces\/torque of the tool-end play an important role in the robotic tool manipulation using a gripper, which are usually indirectly measured by a robot wrist force\/torque sensor. However, the real-time decoupling of the tool\u2019s inertial force remains a challenge when different tools and grasping postures are involved. This paper presents a universal tool-end interaction forces estimation approach, which is capable of handling diverse grippers and tools. Firstly, to address uncertainties from varying tools and grasping postures, an online-identifiable tool dynamics model was built based on the Newton\u2013Euler approach for the integrated gripper\u2013tool system. Sensor zero-drift caused by factors such as the tool weight and prolonged operation is incorporated into the dynamic model and identified online in real time, enabling a coarse estimation of the interaction forces. Secondly, a spiking neural network (SNN) is specially employed to compensate for uncertainties caused by the wrist sensor creep effect, since its temporal processing and event-driven characteristics match the time-varying creep effects introduced by tool changes. The proposed method is experimentally validated on a robotic arm with a gripper, and the results show that the root mean square errors of the estimated tool-end interaction forces are below 0.5 N with x, y, and z axes and 0.03 Nm with \u03c4x, \u03c4y, and \u03c4z axes, which has a comparable precision with the in situ measurement of the interaction forces at the tool-end. The proposed method is further applied to robotic scraper manipulation with impedance control, achieving the interaction forces feedback during compliant operation precisely and rapidly.<\/jats:p>","DOI":"10.3390\/s25216619","type":"journal-article","created":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T05:48:46Z","timestamp":1761716926000},"page":"6619","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Universal Tool Interaction Force Estimation Approach for Robotic Tool Manipulation"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-4467-082X","authenticated-orcid":false,"given":"Diyun","family":"Wen","sequence":"first","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiangtao","family":"Xiao","sequence":"additional","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Xie","sequence":"additional","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tao","family":"Luo","sequence":"additional","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinhui","family":"Zhang","sequence":"additional","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9820-556X","authenticated-orcid":false,"given":"Wei","family":"Zhou","sequence":"additional","affiliation":[{"name":"Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,10,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"eaat8414","DOI":"10.1126\/science.aat8414","article-title":"Trends and challenges in robot manipulation","volume":"364","author":"Billard","year":"2019","journal-title":"Science"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Huan, Z., Ma, W., Wang, J., and Wu, F. 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